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    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
      
        <li class="md-nav__item">
  <a href="#syspy.navigation" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-module"></code>&nbsp;navigation
    </span>
  </a>
  
    <nav class="md-nav" aria-label=" navigation">
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-class"></code>&nbsp;Navigation
    </span>
  </a>
  
    <nav class="md-nav" aria-label=" Navigation">
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goPathParam" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goPathParam
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getLM" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getLM
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.runOdoMove" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;runOdoMove
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.clearGoodsShape" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;clearGoodsShape
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getCurrentAdvancedArea" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getCurrentAdvancedArea
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getCurrentPathProperty" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getCurrentPathProperty
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getGoodsName" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getGoodsName
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getMinDynamicObs" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getMinDynamicObs
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getTargetPGVParam" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getTargetPGVParam
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goForkPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goForkPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goForkUseStraightLine" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goForkUseStraightLine
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goMapPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goMapPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goPGVRun" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goPGVRun
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.hasGoods" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;hasGoods
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.inSpin" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;inSpin
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.isPathReached" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;isPathReached
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.laserCollision" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;laserCollision
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.moveTask" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;moveTask
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.openSpeed" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;openSpeed
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetGoForkPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetGoForkPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetGoMapPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetGoMapPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetGoPGV" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetGoPGV
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetLocalShelfArea" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetLocalShelfArea
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetOdoMove" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetOdoMove
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setBlockReason" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setBlockReason
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setGlobalSpinAngle" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setGlobalSpinAngle
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setGoForkForkPos" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setGoForkForkPos
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setGoodsShape" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setGoodsShape
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setGoodsShapeWithName" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setGoodsShapeWithName
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setIncreaseSpinAngle" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setIncreaseSpinAngle
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setLocalShelfArea" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setLocalShelfArea
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setObsStopDist" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setObsStopDist
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathBackMode" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathBackMode
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathHoldDir" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathHoldDir
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathMaxRot" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathMaxRot
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathMaxSpeed" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathMaxSpeed
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathOnRobot" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathOnRobot
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathOnWorld" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathOnWorld
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathReachAngle" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathReachAngle
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathReachDist" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathReachDist
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathUseOdo" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathUseOdo
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setRobotSpinAngle" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setRobotSpinAngle
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setSafeOssdSwitch" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setSafeOssdSwitch
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setSafeZone" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setSafeZone
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setSteerAngle" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setSteerAngle
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.spinRun" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;spinRun
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.stopRobot" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;stopRobot
    </span>
  </a>
  
</li>
        
      </ul>
    </nav>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavStatus" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-class"></code>&nbsp;NavStatus
    </span>
  </a>
  
    <nav class="md-nav" aria-label=" NavStatus">
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavStatus.getChassisStop" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getChassisStop
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavStatus.get_turn" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;get_turn
    </span>
  </a>
  
</li>
        
      </ul>
    </nav>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavSpeed" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-class"></code>&nbsp;NavSpeed
    </span>
  </a>
  
    <nav class="md-nav" aria-label=" NavSpeed">
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavSpeed.get_motor_cmd" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;get_motor_cmd
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavSpeed.get_is2move" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;get_is2move
    </span>
  </a>
  
</li>
        
      </ul>
    </nav>
  
</li>
        
      </ul>
    </nav>
  
</li>
      
    </ul>
  
</nav>
      
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="odometer.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    里程
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="map.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    地图
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="bin.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    库位
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="battery.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    电池
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="sound.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    音频
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="distance.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    距离传感器
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="magnetic.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    磁传感器
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="laser.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    激光
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="camera.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    相机
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="led.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    灯光
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="motor.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    电机
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="pgv.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    位置导引视觉系统
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="recognize.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    识别
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="rfid.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    射频识别
    
  </span>
  

      </a>
    </li>
  

              
            
          </ul>
        </nav>
      
    </li>
  

    
      
      
  
  
  
  
    
    
      
        
          
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
        
      
    
    
    
      
      
        
      
    
    
    <li class="md-nav__item md-nav__item--nested">
      
        
        
        <input class="md-nav__toggle md-toggle " type="checkbox" id="__nav_4" >
        
          
          <div class="md-nav__link md-nav__container">
            <a href="message/index.html" class="md-nav__link ">
              
  
  
  <span class="md-ellipsis">
    消息
    
  </span>
  

            </a>
            
              
              <label class="md-nav__link " for="__nav_4" id="__nav_4_label" tabindex="0">
                <span class="md-nav__icon md-icon"></span>
              </label>
            
          </div>
        
        <nav class="md-nav" data-md-level="1" aria-labelledby="__nav_4_label" aria-expanded="false">
          <label class="md-nav__title" for="__nav_4">
            <span class="md-nav__icon md-icon"></span>
            消息
          </label>
          <ul class="md-nav__list" data-md-scrollfix>
            
              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="message/message_motorinfos_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    电机消息
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="message/message_battery_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    电池消息
    
  </span>
  

      </a>
    </li>
  

              
            
              
                
  
  
  
  
    <li class="md-nav__item">
      <a href="message/message_localization_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    定位消息
    
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    <li class="md-nav__item">
      <a href="message/message_navigation_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    导航消息
    
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_movetask_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    导航任务消息
    
  </span>
  

      </a>
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    <li class="md-nav__item">
      <a href="message/message_rfid_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_laser_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_distancesensor_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    距离传感器消息
    
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_pgv_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    位置导引视觉系统消息
    
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    <li class="md-nav__item">
      <a href="message/message_magnetic_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_controller_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_odometer_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_header_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_dmx512_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    灯光消息
    
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_depthcamera_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    相机消息
    
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_io_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    输入/输出消息
    
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      </a>
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    <li class="md-nav__item">
      <a href="message/CanFrame_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    CAN消息
    
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      <a href="message/message_sound_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_bin_pb2.html" class="md-nav__link">
        
  
  
  <span class="md-ellipsis">
    库位消息
    
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      </a>
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    <li class="md-nav__item">
      <a href="message/message_script_pb2.html" class="md-nav__link">
        
  
  
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    脚本消息
    
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    常见问题
    
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              <div class="md-sidebar md-sidebar--secondary" data-md-component="sidebar" data-md-type="toc" >
                <div class="md-sidebar__scrollwrap">
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<nav class="md-nav md-nav--secondary" aria-label="目录">
  
  
  
  
    <label class="md-nav__title" for="__toc">
      <span class="md-nav__icon md-icon"></span>
      目录
    </label>
    <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
      
        <li class="md-nav__item">
  <a href="#syspy.navigation" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-module"></code>&nbsp;navigation
    </span>
  </a>
  
    <nav class="md-nav" aria-label=" navigation">
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-class"></code>&nbsp;Navigation
    </span>
  </a>
  
    <nav class="md-nav" aria-label=" Navigation">
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goPathParam" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goPathParam
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getLM" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getLM
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.runOdoMove" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;runOdoMove
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.clearGoodsShape" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;clearGoodsShape
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getCurrentAdvancedArea" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getCurrentAdvancedArea
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getCurrentPathProperty" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getCurrentPathProperty
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getGoodsName" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getGoodsName
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getMinDynamicObs" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getMinDynamicObs
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.getTargetPGVParam" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getTargetPGVParam
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goForkPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goForkPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goForkUseStraightLine" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goForkUseStraightLine
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goMapPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goMapPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.goPGVRun" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;goPGVRun
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.hasGoods" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;hasGoods
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.inSpin" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;inSpin
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.isPathReached" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;isPathReached
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.laserCollision" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;laserCollision
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.moveTask" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;moveTask
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.openSpeed" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;openSpeed
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetGoForkPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetGoForkPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetGoMapPath" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetGoMapPath
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetGoPGV" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetGoPGV
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetLocalShelfArea" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetLocalShelfArea
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.resetOdoMove" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;resetOdoMove
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setBlockReason" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setBlockReason
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setGlobalSpinAngle" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setGlobalSpinAngle
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setGoForkForkPos" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setGoForkForkPos
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setGoodsShape" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setGoodsShape
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setGoodsShapeWithName" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setGoodsShapeWithName
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setIncreaseSpinAngle" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setIncreaseSpinAngle
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setLocalShelfArea" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setLocalShelfArea
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setObsStopDist" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setObsStopDist
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathBackMode" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathBackMode
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathHoldDir" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathHoldDir
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathMaxRot" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathMaxRot
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathMaxSpeed" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathMaxSpeed
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathOnRobot" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathOnRobot
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathOnWorld" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathOnWorld
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathReachAngle" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathReachAngle
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathReachDist" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathReachDist
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setPathUseOdo" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setPathUseOdo
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setRobotSpinAngle" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setRobotSpinAngle
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setSafeOssdSwitch" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setSafeOssdSwitch
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setSafeZone" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setSafeZone
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.setSteerAngle" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;setSteerAngle
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.spinRun" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;spinRun
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.Navigation.stopRobot" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;stopRobot
    </span>
  </a>
  
</li>
        
      </ul>
    </nav>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavStatus" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-class"></code>&nbsp;NavStatus
    </span>
  </a>
  
    <nav class="md-nav" aria-label=" NavStatus">
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavStatus.getChassisStop" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;getChassisStop
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavStatus.get_turn" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;get_turn
    </span>
  </a>
  
</li>
        
      </ul>
    </nav>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavSpeed" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-class"></code>&nbsp;NavSpeed
    </span>
  </a>
  
    <nav class="md-nav" aria-label=" NavSpeed">
      <ul class="md-nav__list">
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavSpeed.get_motor_cmd" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;get_motor_cmd
    </span>
  </a>
  
</li>
        
          <li class="md-nav__item">
  <a href="#syspy.navigation.NavSpeed.get_is2move" class="md-nav__link">
    <span class="md-ellipsis">
      <code class="doc-symbol doc-symbol-toc doc-symbol-method"></code>&nbsp;get_is2move
    </span>
  </a>
  
</li>
        
      </ul>
    </nav>
  
</li>
        
      </ul>
    </nav>
  
</li>
      
    </ul>
  
</nav>
                  </div>
                </div>
              </div>
            
          
          
            <div class="md-content" data-md-component="content">
              <article class="md-content__inner md-typeset">
                
                  



  <h1>导航</h1>

<div class="doc doc-object doc-module">



<h2 id="syspy.navigation" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-module"></code>            <span class="doc doc-object-name doc-module-name">syspy.navigation</span>


<a href="#syspy.navigation" class="headerlink" title="Permanent link">&para;</a></h2>

    <div class="doc doc-contents first">



  <div class="doc doc-children">








<div class="doc doc-object doc-class">



<h3 id="syspy.navigation.Navigation" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-class"></code>            <span class="doc doc-object-name doc-class-name">Navigation</span>


<a href="#syspy.navigation.Navigation" class="headerlink" title="Permanent link">&para;</a></h3>


    <div class="doc doc-contents ">
            <p class="doc doc-class-bases">
              Bases: <code><span title="syspy.lib.py_rpc.Service">Service</span></code></p>


        <p>导航类</p>




  <div class="doc doc-children">









<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.resetPath" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">resetPath</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.resetPath" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">resetPath</span><span class="p">()</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>让agv沿着规划的线路行驶</p>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-15"><a id="__codelineno-0-15" name="__codelineno-0-15"></a><a href="#__codelineno-0-15"><span class="linenos" data-linenos="15 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-16"><a id="__codelineno-0-16" name="__codelineno-0-16"></a><a href="#__codelineno-0-16"><span class="linenos" data-linenos="16 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-17"><a id="__codelineno-0-17" name="__codelineno-0-17"></a><a href="#__codelineno-0-17"><span class="linenos" data-linenos="17 "></span></a><span class="k">def</span> <span class="nf">resetPath</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
</span><span id="__span-0-18"><a id="__codelineno-0-18" name="__codelineno-0-18"></a><a href="#__codelineno-0-18"><span class="linenos" data-linenos="18 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;让agv沿着规划的线路行驶&quot;&quot;&quot;</span>
</span><span id="__span-0-19"><a id="__codelineno-0-19" name="__codelineno-0-19"></a><a href="#__codelineno-0-19"><span class="linenos" data-linenos="19 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.goPathParam" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">goPathParam</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.goPathParam" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">goPathParam</span><span class="p">(</span><span class="n">params</span><span class="p">:</span> <span class="n">dict</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>params</code></td>
            <td>
                  <code>dict</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-21"><a id="__codelineno-0-21" name="__codelineno-0-21"></a><a href="#__codelineno-0-21"><span class="linenos" data-linenos="21 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-22"><a id="__codelineno-0-22" name="__codelineno-0-22"></a><a href="#__codelineno-0-22"><span class="linenos" data-linenos="22 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-23"><a id="__codelineno-0-23" name="__codelineno-0-23"></a><a href="#__codelineno-0-23"><span class="linenos" data-linenos="23 "></span></a><span class="k">def</span> <span class="nf">goPathParam</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">params</span><span class="p">:</span> <span class="nb">dict</span><span class="p">):</span>
</span><span id="__span-0-24"><a id="__codelineno-0-24" name="__codelineno-0-24"></a><a href="#__codelineno-0-24"><span class="linenos" data-linenos="24 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot; &quot;&quot;&quot;</span>
</span><span id="__span-0-25"><a id="__codelineno-0-25" name="__codelineno-0-25"></a><a href="#__codelineno-0-25"><span class="linenos" data-linenos="25 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.getLM" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">getLM</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.getLM" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">getLM</span><span class="p">(</span><span class="n">name</span><span class="p">:</span> <span class="n">str</span><span class="p">,</span> <span class="n">flag</span><span class="p">:</span> <span class="n">bool</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">list</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>获取点位坐标</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>name</code></td>
            <td>
                  <code>str</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>flag</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>name</code></td>
            <td>
                  <code>str</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>站点或者库位名称</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>flag</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>True 返回的坐标是地图坐标系， False返回的坐标是机器人坐标系</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>list</code></td>            <td>
                  <code>list</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>0-&gt; x (m); 1-&gt;y (m); 2-&gt;theta (rad); 3-&gt; id (-1 表示不存在)</p>
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-27"><a id="__codelineno-0-27" name="__codelineno-0-27"></a><a href="#__codelineno-0-27"><span class="linenos" data-linenos="27 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-28"><a id="__codelineno-0-28" name="__codelineno-0-28"></a><a href="#__codelineno-0-28"><span class="linenos" data-linenos="28 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-29"><a id="__codelineno-0-29" name="__codelineno-0-29"></a><a href="#__codelineno-0-29"><span class="linenos" data-linenos="29 "></span></a><span class="k">def</span> <span class="nf">getLM</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">flag</span><span class="p">:</span> <span class="nb">bool</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">:</span>
</span><span id="__span-0-30"><a id="__codelineno-0-30" name="__codelineno-0-30"></a><a href="#__codelineno-0-30"><span class="linenos" data-linenos="30 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;获取点位坐标</span>
</span><span id="__span-0-31"><a id="__codelineno-0-31" name="__codelineno-0-31"></a><a href="#__codelineno-0-31"><span class="linenos" data-linenos="31 "></span></a>
</span><span id="__span-0-32"><a id="__codelineno-0-32" name="__codelineno-0-32"></a><a href="#__codelineno-0-32"><span class="linenos" data-linenos="32 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-33"><a id="__codelineno-0-33" name="__codelineno-0-33"></a><a href="#__codelineno-0-33"><span class="linenos" data-linenos="33 "></span></a><span class="sd">        name (str): 站点或者库位名称</span>
</span><span id="__span-0-34"><a id="__codelineno-0-34" name="__codelineno-0-34"></a><a href="#__codelineno-0-34"><span class="linenos" data-linenos="34 "></span></a><span class="sd">        flag (bool): True 返回的坐标是地图坐标系， False返回的坐标是机器人坐标系</span>
</span><span id="__span-0-35"><a id="__codelineno-0-35" name="__codelineno-0-35"></a><a href="#__codelineno-0-35"><span class="linenos" data-linenos="35 "></span></a>
</span><span id="__span-0-36"><a id="__codelineno-0-36" name="__codelineno-0-36"></a><a href="#__codelineno-0-36"><span class="linenos" data-linenos="36 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-37"><a id="__codelineno-0-37" name="__codelineno-0-37"></a><a href="#__codelineno-0-37"><span class="linenos" data-linenos="37 "></span></a><span class="sd">        list: 0-&gt; x (m); 1-&gt;y (m); 2-&gt;theta (rad); 3-&gt; id (-1 表示不存在)</span>
</span><span id="__span-0-38"><a id="__codelineno-0-38" name="__codelineno-0-38"></a><a href="#__codelineno-0-38"><span class="linenos" data-linenos="38 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-39"><a id="__codelineno-0-39" name="__codelineno-0-39"></a><a href="#__codelineno-0-39"><span class="linenos" data-linenos="39 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.runOdoMove" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">runOdoMove</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.runOdoMove" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">runOdoMove</span><span class="p">(</span><span class="n">params</span><span class="p">:</span> <span class="n">dict</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>执行按里程运动的任务</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>params</code></td>
            <td>
                  <code>dict</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>params</code></td>
            <td>
                  <code>dict</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-41"><a id="__codelineno-0-41" name="__codelineno-0-41"></a><a href="#__codelineno-0-41"><span class="linenos" data-linenos="41 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-42"><a id="__codelineno-0-42" name="__codelineno-0-42"></a><a href="#__codelineno-0-42"><span class="linenos" data-linenos="42 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-43"><a id="__codelineno-0-43" name="__codelineno-0-43"></a><a href="#__codelineno-0-43"><span class="linenos" data-linenos="43 "></span></a><span class="k">def</span> <span class="nf">runOdoMove</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">params</span><span class="p">:</span> <span class="nb">dict</span><span class="p">):</span>
</span><span id="__span-0-44"><a id="__codelineno-0-44" name="__codelineno-0-44"></a><a href="#__codelineno-0-44"><span class="linenos" data-linenos="44 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;执行按里程运动的任务</span>
</span><span id="__span-0-45"><a id="__codelineno-0-45" name="__codelineno-0-45"></a><a href="#__codelineno-0-45"><span class="linenos" data-linenos="45 "></span></a>
</span><span id="__span-0-46"><a id="__codelineno-0-46" name="__codelineno-0-46"></a><a href="#__codelineno-0-46"><span class="linenos" data-linenos="46 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-47"><a id="__codelineno-0-47" name="__codelineno-0-47"></a><a href="#__codelineno-0-47"><span class="linenos" data-linenos="47 "></span></a><span class="sd">        params (dict):</span>
</span><span id="__span-0-48"><a id="__codelineno-0-48" name="__codelineno-0-48"></a><a href="#__codelineno-0-48"><span class="linenos" data-linenos="48 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-49"><a id="__codelineno-0-49" name="__codelineno-0-49"></a><a href="#__codelineno-0-49"><span class="linenos" data-linenos="49 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.clearGoodsShape" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">clearGoodsShape</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.clearGoodsShape" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">clearGoodsShape</span><span class="p">()</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>去除agv身上的状态</p>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-51"><a id="__codelineno-0-51" name="__codelineno-0-51"></a><a href="#__codelineno-0-51"><span class="linenos" data-linenos="51 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-52"><a id="__codelineno-0-52" name="__codelineno-0-52"></a><a href="#__codelineno-0-52"><span class="linenos" data-linenos="52 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-53"><a id="__codelineno-0-53" name="__codelineno-0-53"></a><a href="#__codelineno-0-53"><span class="linenos" data-linenos="53 "></span></a><span class="k">def</span> <span class="nf">clearGoodsShape</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
</span><span id="__span-0-54"><a id="__codelineno-0-54" name="__codelineno-0-54"></a><a href="#__codelineno-0-54"><span class="linenos" data-linenos="54 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;去除agv身上的状态&quot;&quot;&quot;</span>
</span><span id="__span-0-55"><a id="__codelineno-0-55" name="__codelineno-0-55"></a><a href="#__codelineno-0-55"><span class="linenos" data-linenos="55 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.getCurrentAdvancedArea" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">getCurrentAdvancedArea</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.getCurrentAdvancedArea" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">getCurrentAdvancedArea</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">dict</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>机器人运行时，当前所在高级区域的属性</p>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>dict</code></td>            <td>
                  <code>dict</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-57"><a id="__codelineno-0-57" name="__codelineno-0-57"></a><a href="#__codelineno-0-57"><span class="linenos" data-linenos="57 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-58"><a id="__codelineno-0-58" name="__codelineno-0-58"></a><a href="#__codelineno-0-58"><span class="linenos" data-linenos="58 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-59"><a id="__codelineno-0-59" name="__codelineno-0-59"></a><a href="#__codelineno-0-59"><span class="linenos" data-linenos="59 "></span></a><span class="k">def</span> <span class="nf">getCurrentAdvancedArea</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
</span><span id="__span-0-60"><a id="__codelineno-0-60" name="__codelineno-0-60"></a><a href="#__codelineno-0-60"><span class="linenos" data-linenos="60 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;机器人运行时，当前所在高级区域的属性</span>
</span><span id="__span-0-61"><a id="__codelineno-0-61" name="__codelineno-0-61"></a><a href="#__codelineno-0-61"><span class="linenos" data-linenos="61 "></span></a>
</span><span id="__span-0-62"><a id="__codelineno-0-62" name="__codelineno-0-62"></a><a href="#__codelineno-0-62"><span class="linenos" data-linenos="62 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-63"><a id="__codelineno-0-63" name="__codelineno-0-63"></a><a href="#__codelineno-0-63"><span class="linenos" data-linenos="63 "></span></a><span class="sd">        dict:</span>
</span><span id="__span-0-64"><a id="__codelineno-0-64" name="__codelineno-0-64"></a><a href="#__codelineno-0-64"><span class="linenos" data-linenos="64 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-65"><a id="__codelineno-0-65" name="__codelineno-0-65"></a><a href="#__codelineno-0-65"><span class="linenos" data-linenos="65 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.getCurrentPathProperty" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">getCurrentPathProperty</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.getCurrentPathProperty" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">getCurrentPathProperty</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">dict</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>机器人运行时，当前路线上的属性</p>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>dict</code></td>            <td>
                  <code>dict</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-67"><a id="__codelineno-0-67" name="__codelineno-0-67"></a><a href="#__codelineno-0-67"><span class="linenos" data-linenos="67 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-68"><a id="__codelineno-0-68" name="__codelineno-0-68"></a><a href="#__codelineno-0-68"><span class="linenos" data-linenos="68 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-69"><a id="__codelineno-0-69" name="__codelineno-0-69"></a><a href="#__codelineno-0-69"><span class="linenos" data-linenos="69 "></span></a><span class="k">def</span> <span class="nf">getCurrentPathProperty</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
</span><span id="__span-0-70"><a id="__codelineno-0-70" name="__codelineno-0-70"></a><a href="#__codelineno-0-70"><span class="linenos" data-linenos="70 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;机器人运行时，当前路线上的属性</span>
</span><span id="__span-0-71"><a id="__codelineno-0-71" name="__codelineno-0-71"></a><a href="#__codelineno-0-71"><span class="linenos" data-linenos="71 "></span></a>
</span><span id="__span-0-72"><a id="__codelineno-0-72" name="__codelineno-0-72"></a><a href="#__codelineno-0-72"><span class="linenos" data-linenos="72 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-73"><a id="__codelineno-0-73" name="__codelineno-0-73"></a><a href="#__codelineno-0-73"><span class="linenos" data-linenos="73 "></span></a><span class="sd">        dict:</span>
</span><span id="__span-0-74"><a id="__codelineno-0-74" name="__codelineno-0-74"></a><a href="#__codelineno-0-74"><span class="linenos" data-linenos="74 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-75"><a id="__codelineno-0-75" name="__codelineno-0-75"></a><a href="#__codelineno-0-75"><span class="linenos" data-linenos="75 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.getGoodsName" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">getGoodsName</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.getGoodsName" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">getGoodsName</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">str</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>Returns:</p>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-77"><a id="__codelineno-0-77" name="__codelineno-0-77"></a><a href="#__codelineno-0-77"><span class="linenos" data-linenos="77 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-78"><a id="__codelineno-0-78" name="__codelineno-0-78"></a><a href="#__codelineno-0-78"><span class="linenos" data-linenos="78 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-79"><a id="__codelineno-0-79" name="__codelineno-0-79"></a><a href="#__codelineno-0-79"><span class="linenos" data-linenos="79 "></span></a><span class="k">def</span> <span class="nf">getGoodsName</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">str</span><span class="p">:</span>
</span><span id="__span-0-80"><a id="__codelineno-0-80" name="__codelineno-0-80"></a><a href="#__codelineno-0-80"><span class="linenos" data-linenos="80 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
</span><span id="__span-0-81"><a id="__codelineno-0-81" name="__codelineno-0-81"></a><a href="#__codelineno-0-81"><span class="linenos" data-linenos="81 "></span></a>
</span><span id="__span-0-82"><a id="__codelineno-0-82" name="__codelineno-0-82"></a><a href="#__codelineno-0-82"><span class="linenos" data-linenos="82 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-83"><a id="__codelineno-0-83" name="__codelineno-0-83"></a><a href="#__codelineno-0-83"><span class="linenos" data-linenos="83 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-84"><a id="__codelineno-0-84" name="__codelineno-0-84"></a><a href="#__codelineno-0-84"><span class="linenos" data-linenos="84 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.getMinDynamicObs" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">getMinDynamicObs</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.getMinDynamicObs" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">getMinDynamicObs</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">list</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>获得离机器最近的一个动态障碍物坐标。 如果没有障碍物反馈0.,0.</p>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>list</code></td>            <td>
                  <code>list</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>两个元素，分别为x,y。单位为m</p>
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-86"><a id="__codelineno-0-86" name="__codelineno-0-86"></a><a href="#__codelineno-0-86"><span class="linenos" data-linenos="86 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-87"><a id="__codelineno-0-87" name="__codelineno-0-87"></a><a href="#__codelineno-0-87"><span class="linenos" data-linenos="87 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-88"><a id="__codelineno-0-88" name="__codelineno-0-88"></a><a href="#__codelineno-0-88"><span class="linenos" data-linenos="88 "></span></a><span class="k">def</span> <span class="nf">getMinDynamicObs</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">list</span><span class="p">:</span>
</span><span id="__span-0-89"><a id="__codelineno-0-89" name="__codelineno-0-89"></a><a href="#__codelineno-0-89"><span class="linenos" data-linenos="89 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;获得离机器最近的一个动态障碍物坐标。 如果没有障碍物反馈0.,0.</span>
</span><span id="__span-0-90"><a id="__codelineno-0-90" name="__codelineno-0-90"></a><a href="#__codelineno-0-90"><span class="linenos" data-linenos="90 "></span></a>
</span><span id="__span-0-91"><a id="__codelineno-0-91" name="__codelineno-0-91"></a><a href="#__codelineno-0-91"><span class="linenos" data-linenos="91 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-92"><a id="__codelineno-0-92" name="__codelineno-0-92"></a><a href="#__codelineno-0-92"><span class="linenos" data-linenos="92 "></span></a><span class="sd">        list: 两个元素，分别为x,y。单位为m</span>
</span><span id="__span-0-93"><a id="__codelineno-0-93" name="__codelineno-0-93"></a><a href="#__codelineno-0-93"><span class="linenos" data-linenos="93 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-94"><a id="__codelineno-0-94" name="__codelineno-0-94"></a><a href="#__codelineno-0-94"><span class="linenos" data-linenos="94 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.getTargetPGVParam" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">getTargetPGVParam</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.getTargetPGVParam" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">getTargetPGVParam</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">dict</span>
</span></code></pre></div>

    <div class="doc doc-contents ">



    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>dict</code></td>            <td>
                  <code>dict</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-96"><a id="__codelineno-0-96" name="__codelineno-0-96"></a><a href="#__codelineno-0-96"><span class="linenos" data-linenos=" 96 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-97"><a id="__codelineno-0-97" name="__codelineno-0-97"></a><a href="#__codelineno-0-97"><span class="linenos" data-linenos=" 97 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-98"><a id="__codelineno-0-98" name="__codelineno-0-98"></a><a href="#__codelineno-0-98"><span class="linenos" data-linenos=" 98 "></span></a><span class="k">def</span> <span class="nf">getTargetPGVParam</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
</span><span id="__span-0-99"><a id="__codelineno-0-99" name="__codelineno-0-99"></a><a href="#__codelineno-0-99"><span class="linenos" data-linenos=" 99 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
</span><span id="__span-0-100"><a id="__codelineno-0-100" name="__codelineno-0-100"></a><a href="#__codelineno-0-100"><span class="linenos" data-linenos="100 "></span></a>
</span><span id="__span-0-101"><a id="__codelineno-0-101" name="__codelineno-0-101"></a><a href="#__codelineno-0-101"><span class="linenos" data-linenos="101 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-102"><a id="__codelineno-0-102" name="__codelineno-0-102"></a><a href="#__codelineno-0-102"><span class="linenos" data-linenos="102 "></span></a><span class="sd">        dict:</span>
</span><span id="__span-0-103"><a id="__codelineno-0-103" name="__codelineno-0-103"></a><a href="#__codelineno-0-103"><span class="linenos" data-linenos="103 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-104"><a id="__codelineno-0-104" name="__codelineno-0-104"></a><a href="#__codelineno-0-104"><span class="linenos" data-linenos="104 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.goForkPath" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">goForkPath</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.goForkPath" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">goForkPath</span><span class="p">()</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>叉车依据规划的路径导航，需要先调用 resetGoForkPath</p>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-106"><a id="__codelineno-0-106" name="__codelineno-0-106"></a><a href="#__codelineno-0-106"><span class="linenos" data-linenos="106 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-107"><a id="__codelineno-0-107" name="__codelineno-0-107"></a><a href="#__codelineno-0-107"><span class="linenos" data-linenos="107 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-108"><a id="__codelineno-0-108" name="__codelineno-0-108"></a><a href="#__codelineno-0-108"><span class="linenos" data-linenos="108 "></span></a><span class="k">def</span> <span class="nf">goForkPath</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
</span><span id="__span-0-109"><a id="__codelineno-0-109" name="__codelineno-0-109"></a><a href="#__codelineno-0-109"><span class="linenos" data-linenos="109 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;叉车依据规划的路径导航，需要先调用 resetGoForkPath&quot;&quot;&quot;</span>
</span><span id="__span-0-110"><a id="__codelineno-0-110" name="__codelineno-0-110"></a><a href="#__codelineno-0-110"><span class="linenos" data-linenos="110 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.goForkUseStraightLine" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">goForkUseStraightLine</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.goForkUseStraightLine" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">goForkUseStraightLine</span><span class="p">()</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-112"><a id="__codelineno-0-112" name="__codelineno-0-112"></a><a href="#__codelineno-0-112"><span class="linenos" data-linenos="112 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-113"><a id="__codelineno-0-113" name="__codelineno-0-113"></a><a href="#__codelineno-0-113"><span class="linenos" data-linenos="113 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-114"><a id="__codelineno-0-114" name="__codelineno-0-114"></a><a href="#__codelineno-0-114"><span class="linenos" data-linenos="114 "></span></a><span class="k">def</span> <span class="nf">goForkUseStraightLine</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
</span><span id="__span-0-115"><a id="__codelineno-0-115" name="__codelineno-0-115"></a><a href="#__codelineno-0-115"><span class="linenos" data-linenos="115 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot; &quot;&quot;&quot;</span>
</span><span id="__span-0-116"><a id="__codelineno-0-116" name="__codelineno-0-116"></a><a href="#__codelineno-0-116"><span class="linenos" data-linenos="116 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.goMapPath" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">goMapPath</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.goMapPath" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">goMapPath</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">int</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>按地图路线行走</p>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-118"><a id="__codelineno-0-118" name="__codelineno-0-118"></a><a href="#__codelineno-0-118"><span class="linenos" data-linenos="118 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-119"><a id="__codelineno-0-119" name="__codelineno-0-119"></a><a href="#__codelineno-0-119"><span class="linenos" data-linenos="119 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-120"><a id="__codelineno-0-120" name="__codelineno-0-120"></a><a href="#__codelineno-0-120"><span class="linenos" data-linenos="120 "></span></a><span class="k">def</span> <span class="nf">goMapPath</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
</span><span id="__span-0-121"><a id="__codelineno-0-121" name="__codelineno-0-121"></a><a href="#__codelineno-0-121"><span class="linenos" data-linenos="121 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;按地图路线行走&quot;&quot;&quot;</span>
</span><span id="__span-0-122"><a id="__codelineno-0-122" name="__codelineno-0-122"></a><a href="#__codelineno-0-122"><span class="linenos" data-linenos="122 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.goPath" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">goPath</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.goPath" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">goPath</span><span class="p">()</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>控制AGV移动</p>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-124"><a id="__codelineno-0-124" name="__codelineno-0-124"></a><a href="#__codelineno-0-124"><span class="linenos" data-linenos="124 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-125"><a id="__codelineno-0-125" name="__codelineno-0-125"></a><a href="#__codelineno-0-125"><span class="linenos" data-linenos="125 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-126"><a id="__codelineno-0-126" name="__codelineno-0-126"></a><a href="#__codelineno-0-126"><span class="linenos" data-linenos="126 "></span></a><span class="k">def</span> <span class="nf">goPath</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
</span><span id="__span-0-127"><a id="__codelineno-0-127" name="__codelineno-0-127"></a><a href="#__codelineno-0-127"><span class="linenos" data-linenos="127 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;控制AGV移动&quot;&quot;&quot;</span>
</span><span id="__span-0-128"><a id="__codelineno-0-128" name="__codelineno-0-128"></a><a href="#__codelineno-0-128"><span class="linenos" data-linenos="128 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.goPGVRun" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">goPGVRun</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.goPGVRun" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">goPGVRun</span><span class="p">(</span><span class="n">params</span><span class="p">:</span> <span class="n">dict</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">int</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>按地图路线行走</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>params</code></td>
            <td>
                  <code>dict</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>params</code></td>
            <td>
                  <code>dict</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>int</code></td>            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-130"><a id="__codelineno-0-130" name="__codelineno-0-130"></a><a href="#__codelineno-0-130"><span class="linenos" data-linenos="130 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-131"><a id="__codelineno-0-131" name="__codelineno-0-131"></a><a href="#__codelineno-0-131"><span class="linenos" data-linenos="131 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-132"><a id="__codelineno-0-132" name="__codelineno-0-132"></a><a href="#__codelineno-0-132"><span class="linenos" data-linenos="132 "></span></a><span class="k">def</span> <span class="nf">goPGVRun</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">params</span><span class="p">:</span> <span class="nb">dict</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">int</span><span class="p">:</span>
</span><span id="__span-0-133"><a id="__codelineno-0-133" name="__codelineno-0-133"></a><a href="#__codelineno-0-133"><span class="linenos" data-linenos="133 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;按地图路线行走</span>
</span><span id="__span-0-134"><a id="__codelineno-0-134" name="__codelineno-0-134"></a><a href="#__codelineno-0-134"><span class="linenos" data-linenos="134 "></span></a>
</span><span id="__span-0-135"><a id="__codelineno-0-135" name="__codelineno-0-135"></a><a href="#__codelineno-0-135"><span class="linenos" data-linenos="135 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-136"><a id="__codelineno-0-136" name="__codelineno-0-136"></a><a href="#__codelineno-0-136"><span class="linenos" data-linenos="136 "></span></a><span class="sd">        params (dict):</span>
</span><span id="__span-0-137"><a id="__codelineno-0-137" name="__codelineno-0-137"></a><a href="#__codelineno-0-137"><span class="linenos" data-linenos="137 "></span></a>
</span><span id="__span-0-138"><a id="__codelineno-0-138" name="__codelineno-0-138"></a><a href="#__codelineno-0-138"><span class="linenos" data-linenos="138 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-139"><a id="__codelineno-0-139" name="__codelineno-0-139"></a><a href="#__codelineno-0-139"><span class="linenos" data-linenos="139 "></span></a><span class="sd">        int:</span>
</span><span id="__span-0-140"><a id="__codelineno-0-140" name="__codelineno-0-140"></a><a href="#__codelineno-0-140"><span class="linenos" data-linenos="140 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-141"><a id="__codelineno-0-141" name="__codelineno-0-141"></a><a href="#__codelineno-0-141"><span class="linenos" data-linenos="141 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.hasGoods" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">hasGoods</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.hasGoods" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">hasGoods</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">bool</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>获取身上是否有货物的状态</p>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>bool</code></td>            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>是否有货物</p>
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-143"><a id="__codelineno-0-143" name="__codelineno-0-143"></a><a href="#__codelineno-0-143"><span class="linenos" data-linenos="143 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-144"><a id="__codelineno-0-144" name="__codelineno-0-144"></a><a href="#__codelineno-0-144"><span class="linenos" data-linenos="144 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-145"><a id="__codelineno-0-145" name="__codelineno-0-145"></a><a href="#__codelineno-0-145"><span class="linenos" data-linenos="145 "></span></a><span class="k">def</span> <span class="nf">hasGoods</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
</span><span id="__span-0-146"><a id="__codelineno-0-146" name="__codelineno-0-146"></a><a href="#__codelineno-0-146"><span class="linenos" data-linenos="146 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;获取身上是否有货物的状态</span>
</span><span id="__span-0-147"><a id="__codelineno-0-147" name="__codelineno-0-147"></a><a href="#__codelineno-0-147"><span class="linenos" data-linenos="147 "></span></a>
</span><span id="__span-0-148"><a id="__codelineno-0-148" name="__codelineno-0-148"></a><a href="#__codelineno-0-148"><span class="linenos" data-linenos="148 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-149"><a id="__codelineno-0-149" name="__codelineno-0-149"></a><a href="#__codelineno-0-149"><span class="linenos" data-linenos="149 "></span></a><span class="sd">        bool: 是否有货物</span>
</span><span id="__span-0-150"><a id="__codelineno-0-150" name="__codelineno-0-150"></a><a href="#__codelineno-0-150"><span class="linenos" data-linenos="150 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-151"><a id="__codelineno-0-151" name="__codelineno-0-151"></a><a href="#__codelineno-0-151"><span class="linenos" data-linenos="151 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.inSpin" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">inSpin</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.inSpin" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">inSpin</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">bool</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>是否在随动</p>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-153"><a id="__codelineno-0-153" name="__codelineno-0-153"></a><a href="#__codelineno-0-153"><span class="linenos" data-linenos="153 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-154"><a id="__codelineno-0-154" name="__codelineno-0-154"></a><a href="#__codelineno-0-154"><span class="linenos" data-linenos="154 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-155"><a id="__codelineno-0-155" name="__codelineno-0-155"></a><a href="#__codelineno-0-155"><span class="linenos" data-linenos="155 "></span></a><span class="k">def</span> <span class="nf">inSpin</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
</span><span id="__span-0-156"><a id="__codelineno-0-156" name="__codelineno-0-156"></a><a href="#__codelineno-0-156"><span class="linenos" data-linenos="156 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;是否在随动&quot;&quot;&quot;</span>
</span><span id="__span-0-157"><a id="__codelineno-0-157" name="__codelineno-0-157"></a><a href="#__codelineno-0-157"><span class="linenos" data-linenos="157 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.isPathReached" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">isPathReached</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.isPathReached" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">isPathReached</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">bool</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>agv是否完成线路</p>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>bool</code></td>            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>如果完成则返回True</p>
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-159"><a id="__codelineno-0-159" name="__codelineno-0-159"></a><a href="#__codelineno-0-159"><span class="linenos" data-linenos="159 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-160"><a id="__codelineno-0-160" name="__codelineno-0-160"></a><a href="#__codelineno-0-160"><span class="linenos" data-linenos="160 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-161"><a id="__codelineno-0-161" name="__codelineno-0-161"></a><a href="#__codelineno-0-161"><span class="linenos" data-linenos="161 "></span></a><span class="k">def</span> <span class="nf">isPathReached</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
</span><span id="__span-0-162"><a id="__codelineno-0-162" name="__codelineno-0-162"></a><a href="#__codelineno-0-162"><span class="linenos" data-linenos="162 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;agv是否完成线路</span>
</span><span id="__span-0-163"><a id="__codelineno-0-163" name="__codelineno-0-163"></a><a href="#__codelineno-0-163"><span class="linenos" data-linenos="163 "></span></a>
</span><span id="__span-0-164"><a id="__codelineno-0-164" name="__codelineno-0-164"></a><a href="#__codelineno-0-164"><span class="linenos" data-linenos="164 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-165"><a id="__codelineno-0-165" name="__codelineno-0-165"></a><a href="#__codelineno-0-165"><span class="linenos" data-linenos="165 "></span></a><span class="sd">        bool: 如果完成则返回True</span>
</span><span id="__span-0-166"><a id="__codelineno-0-166" name="__codelineno-0-166"></a><a href="#__codelineno-0-166"><span class="linenos" data-linenos="166 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-167"><a id="__codelineno-0-167" name="__codelineno-0-167"></a><a href="#__codelineno-0-167"><span class="linenos" data-linenos="167 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.laserCollision" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">laserCollision</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.laserCollision" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">laserCollision</span><span class="p">(</span><span class="n">ids</span><span class="p">:</span> <span class="n">list</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">bool</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>检测激光点是否和自身碰撞</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>ids</code></td>
            <td>
                  <code>list</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>bool</code></td>            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>激光点是否和自身碰撞</p>
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-169"><a id="__codelineno-0-169" name="__codelineno-0-169"></a><a href="#__codelineno-0-169"><span class="linenos" data-linenos="169 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-170"><a id="__codelineno-0-170" name="__codelineno-0-170"></a><a href="#__codelineno-0-170"><span class="linenos" data-linenos="170 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-171"><a id="__codelineno-0-171" name="__codelineno-0-171"></a><a href="#__codelineno-0-171"><span class="linenos" data-linenos="171 "></span></a><span class="k">def</span> <span class="nf">laserCollision</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">ids</span><span class="p">:</span> <span class="nb">list</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
</span><span id="__span-0-172"><a id="__codelineno-0-172" name="__codelineno-0-172"></a><a href="#__codelineno-0-172"><span class="linenos" data-linenos="172 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;检测激光点是否和自身碰撞</span>
</span><span id="__span-0-173"><a id="__codelineno-0-173" name="__codelineno-0-173"></a><a href="#__codelineno-0-173"><span class="linenos" data-linenos="173 "></span></a>
</span><span id="__span-0-174"><a id="__codelineno-0-174" name="__codelineno-0-174"></a><a href="#__codelineno-0-174"><span class="linenos" data-linenos="174 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-175"><a id="__codelineno-0-175" name="__codelineno-0-175"></a><a href="#__codelineno-0-175"><span class="linenos" data-linenos="175 "></span></a><span class="sd">        bool: 激光点是否和自身碰撞</span>
</span><span id="__span-0-176"><a id="__codelineno-0-176" name="__codelineno-0-176"></a><a href="#__codelineno-0-176"><span class="linenos" data-linenos="176 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-177"><a id="__codelineno-0-177" name="__codelineno-0-177"></a><a href="#__codelineno-0-177"><span class="linenos" data-linenos="177 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.moveTask" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">moveTask</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.moveTask" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">moveTask</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">dict</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>获得任务信息以字典类型返回</p>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>dict</code></td>            <td>
                  <code>dict</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>具体的任务信息</p>
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-179"><a id="__codelineno-0-179" name="__codelineno-0-179"></a><a href="#__codelineno-0-179"><span class="linenos" data-linenos="179 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-180"><a id="__codelineno-0-180" name="__codelineno-0-180"></a><a href="#__codelineno-0-180"><span class="linenos" data-linenos="180 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-181"><a id="__codelineno-0-181" name="__codelineno-0-181"></a><a href="#__codelineno-0-181"><span class="linenos" data-linenos="181 "></span></a><span class="k">def</span> <span class="nf">moveTask</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">dict</span><span class="p">:</span>
</span><span id="__span-0-182"><a id="__codelineno-0-182" name="__codelineno-0-182"></a><a href="#__codelineno-0-182"><span class="linenos" data-linenos="182 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;获得任务信息以字典类型返回</span>
</span><span id="__span-0-183"><a id="__codelineno-0-183" name="__codelineno-0-183"></a><a href="#__codelineno-0-183"><span class="linenos" data-linenos="183 "></span></a>
</span><span id="__span-0-184"><a id="__codelineno-0-184" name="__codelineno-0-184"></a><a href="#__codelineno-0-184"><span class="linenos" data-linenos="184 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-185"><a id="__codelineno-0-185" name="__codelineno-0-185"></a><a href="#__codelineno-0-185"><span class="linenos" data-linenos="185 "></span></a><span class="sd">        dict: 具体的任务信息</span>
</span><span id="__span-0-186"><a id="__codelineno-0-186" name="__codelineno-0-186"></a><a href="#__codelineno-0-186"><span class="linenos" data-linenos="186 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-187"><a id="__codelineno-0-187" name="__codelineno-0-187"></a><a href="#__codelineno-0-187"><span class="linenos" data-linenos="187 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.openSpeed" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">openSpeed</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.openSpeed" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">openSpeed</span><span class="p">(</span><span class="n">vx</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">vy</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">vw</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>让agv按vx,vy,vw行走，此函数考虑了碰撞检测</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>vx</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>vy</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>vw</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-189"><a id="__codelineno-0-189" name="__codelineno-0-189"></a><a href="#__codelineno-0-189"><span class="linenos" data-linenos="189 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-190"><a id="__codelineno-0-190" name="__codelineno-0-190"></a><a href="#__codelineno-0-190"><span class="linenos" data-linenos="190 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-191"><a id="__codelineno-0-191" name="__codelineno-0-191"></a><a href="#__codelineno-0-191"><span class="linenos" data-linenos="191 "></span></a><span class="k">def</span> <span class="nf">openSpeed</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">vx</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">vy</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">vw</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
</span><span id="__span-0-192"><a id="__codelineno-0-192" name="__codelineno-0-192"></a><a href="#__codelineno-0-192"><span class="linenos" data-linenos="192 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;让agv按vx,vy,vw行走，此函数考虑了碰撞检测&quot;&quot;&quot;</span>
</span><span id="__span-0-193"><a id="__codelineno-0-193" name="__codelineno-0-193"></a><a href="#__codelineno-0-193"><span class="linenos" data-linenos="193 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.resetGoForkPath" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">resetGoForkPath</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.resetGoForkPath" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">resetGoForkPath</span><span class="p">(</span><span class="n">x</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">y</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">yaw</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">back_dist</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">min_ahead_dist</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">ahead_dist</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>重置叉车去往识别点的路径规划</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>x</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>y</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>yaw</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>back_dist</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>min_ahead_dist</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>ahead_dist</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>x</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>终点x坐标 m</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>y</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>终点y坐标 m</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>yaw</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>终点角度坐标 rad</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>back_dist</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>到终点后的后退距离</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>min_ahead_dist</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>栈板前直线距离 m</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>ahead_dist</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>到终点前的直线距离</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-195"><a id="__codelineno-0-195" name="__codelineno-0-195"></a><a href="#__codelineno-0-195"><span class="linenos" data-linenos="195 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-196"><a id="__codelineno-0-196" name="__codelineno-0-196"></a><a href="#__codelineno-0-196"><span class="linenos" data-linenos="196 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-197"><a id="__codelineno-0-197" name="__codelineno-0-197"></a><a href="#__codelineno-0-197"><span class="linenos" data-linenos="197 "></span></a><span class="k">def</span> <span class="nf">resetGoForkPath</span><span class="p">(</span>
</span><span id="__span-0-198"><a id="__codelineno-0-198" name="__codelineno-0-198"></a><a href="#__codelineno-0-198"><span class="linenos" data-linenos="198 "></span></a>        <span class="bp">cls</span><span class="p">,</span>
</span><span id="__span-0-199"><a id="__codelineno-0-199" name="__codelineno-0-199"></a><a href="#__codelineno-0-199"><span class="linenos" data-linenos="199 "></span></a>        <span class="n">x</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
</span><span id="__span-0-200"><a id="__codelineno-0-200" name="__codelineno-0-200"></a><a href="#__codelineno-0-200"><span class="linenos" data-linenos="200 "></span></a>        <span class="n">y</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
</span><span id="__span-0-201"><a id="__codelineno-0-201" name="__codelineno-0-201"></a><a href="#__codelineno-0-201"><span class="linenos" data-linenos="201 "></span></a>        <span class="n">yaw</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
</span><span id="__span-0-202"><a id="__codelineno-0-202" name="__codelineno-0-202"></a><a href="#__codelineno-0-202"><span class="linenos" data-linenos="202 "></span></a>        <span class="n">back_dist</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
</span><span id="__span-0-203"><a id="__codelineno-0-203" name="__codelineno-0-203"></a><a href="#__codelineno-0-203"><span class="linenos" data-linenos="203 "></span></a>        <span class="n">min_ahead_dist</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
</span><span id="__span-0-204"><a id="__codelineno-0-204" name="__codelineno-0-204"></a><a href="#__codelineno-0-204"><span class="linenos" data-linenos="204 "></span></a>        <span class="n">ahead_dist</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
</span><span id="__span-0-205"><a id="__codelineno-0-205" name="__codelineno-0-205"></a><a href="#__codelineno-0-205"><span class="linenos" data-linenos="205 "></span></a><span class="p">):</span>
</span><span id="__span-0-206"><a id="__codelineno-0-206" name="__codelineno-0-206"></a><a href="#__codelineno-0-206"><span class="linenos" data-linenos="206 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;重置叉车去往识别点的路径规划</span>
</span><span id="__span-0-207"><a id="__codelineno-0-207" name="__codelineno-0-207"></a><a href="#__codelineno-0-207"><span class="linenos" data-linenos="207 "></span></a>
</span><span id="__span-0-208"><a id="__codelineno-0-208" name="__codelineno-0-208"></a><a href="#__codelineno-0-208"><span class="linenos" data-linenos="208 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-209"><a id="__codelineno-0-209" name="__codelineno-0-209"></a><a href="#__codelineno-0-209"><span class="linenos" data-linenos="209 "></span></a><span class="sd">        x (float): 终点x坐标 m</span>
</span><span id="__span-0-210"><a id="__codelineno-0-210" name="__codelineno-0-210"></a><a href="#__codelineno-0-210"><span class="linenos" data-linenos="210 "></span></a><span class="sd">        y (float): 终点y坐标 m</span>
</span><span id="__span-0-211"><a id="__codelineno-0-211" name="__codelineno-0-211"></a><a href="#__codelineno-0-211"><span class="linenos" data-linenos="211 "></span></a><span class="sd">        yaw (float): 终点角度坐标 rad</span>
</span><span id="__span-0-212"><a id="__codelineno-0-212" name="__codelineno-0-212"></a><a href="#__codelineno-0-212"><span class="linenos" data-linenos="212 "></span></a><span class="sd">        back_dist (float): 到终点后的后退距离</span>
</span><span id="__span-0-213"><a id="__codelineno-0-213" name="__codelineno-0-213"></a><a href="#__codelineno-0-213"><span class="linenos" data-linenos="213 "></span></a><span class="sd">        min_ahead_dist (float): 栈板前直线距离 m</span>
</span><span id="__span-0-214"><a id="__codelineno-0-214" name="__codelineno-0-214"></a><a href="#__codelineno-0-214"><span class="linenos" data-linenos="214 "></span></a><span class="sd">        ahead_dist (float): 到终点前的直线距离</span>
</span><span id="__span-0-215"><a id="__codelineno-0-215" name="__codelineno-0-215"></a><a href="#__codelineno-0-215"><span class="linenos" data-linenos="215 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-216"><a id="__codelineno-0-216" name="__codelineno-0-216"></a><a href="#__codelineno-0-216"><span class="linenos" data-linenos="216 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.resetGoMapPath" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">resetGoMapPath</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.resetGoMapPath" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">resetGoMapPath</span><span class="p">()</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>行走的动作</p>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-218"><a id="__codelineno-0-218" name="__codelineno-0-218"></a><a href="#__codelineno-0-218"><span class="linenos" data-linenos="218 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-219"><a id="__codelineno-0-219" name="__codelineno-0-219"></a><a href="#__codelineno-0-219"><span class="linenos" data-linenos="219 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-220"><a id="__codelineno-0-220" name="__codelineno-0-220"></a><a href="#__codelineno-0-220"><span class="linenos" data-linenos="220 "></span></a><span class="k">def</span> <span class="nf">resetGoMapPath</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
</span><span id="__span-0-221"><a id="__codelineno-0-221" name="__codelineno-0-221"></a><a href="#__codelineno-0-221"><span class="linenos" data-linenos="221 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;行走的动作&quot;&quot;&quot;</span>
</span><span id="__span-0-222"><a id="__codelineno-0-222" name="__codelineno-0-222"></a><a href="#__codelineno-0-222"><span class="linenos" data-linenos="222 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.resetGoPGV" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">resetGoPGV</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.resetGoPGV" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">resetGoPGV</span><span class="p">()</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-224"><a id="__codelineno-0-224" name="__codelineno-0-224"></a><a href="#__codelineno-0-224"><span class="linenos" data-linenos="224 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-225"><a id="__codelineno-0-225" name="__codelineno-0-225"></a><a href="#__codelineno-0-225"><span class="linenos" data-linenos="225 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-226"><a id="__codelineno-0-226" name="__codelineno-0-226"></a><a href="#__codelineno-0-226"><span class="linenos" data-linenos="226 "></span></a><span class="k">def</span> <span class="nf">resetGoPGV</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
</span><span id="__span-0-227"><a id="__codelineno-0-227" name="__codelineno-0-227"></a><a href="#__codelineno-0-227"><span class="linenos" data-linenos="227 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot; &quot;&quot;&quot;</span>
</span><span id="__span-0-228"><a id="__codelineno-0-228" name="__codelineno-0-228"></a><a href="#__codelineno-0-228"><span class="linenos" data-linenos="228 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.resetLocalShelfArea" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">resetLocalShelfArea</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.resetLocalShelfArea" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">resetLocalShelfArea</span><span class="p">()</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>取消顶升上的货架</p>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-230"><a id="__codelineno-0-230" name="__codelineno-0-230"></a><a href="#__codelineno-0-230"><span class="linenos" data-linenos="230 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-231"><a id="__codelineno-0-231" name="__codelineno-0-231"></a><a href="#__codelineno-0-231"><span class="linenos" data-linenos="231 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-232"><a id="__codelineno-0-232" name="__codelineno-0-232"></a><a href="#__codelineno-0-232"><span class="linenos" data-linenos="232 "></span></a><span class="k">def</span> <span class="nf">resetLocalShelfArea</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
</span><span id="__span-0-233"><a id="__codelineno-0-233" name="__codelineno-0-233"></a><a href="#__codelineno-0-233"><span class="linenos" data-linenos="233 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;取消顶升上的货架&quot;&quot;&quot;</span>
</span><span id="__span-0-234"><a id="__codelineno-0-234" name="__codelineno-0-234"></a><a href="#__codelineno-0-234"><span class="linenos" data-linenos="234 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.resetOdoMove" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">resetOdoMove</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.resetOdoMove" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">resetOdoMove</span><span class="p">()</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-236"><a id="__codelineno-0-236" name="__codelineno-0-236"></a><a href="#__codelineno-0-236"><span class="linenos" data-linenos="236 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-237"><a id="__codelineno-0-237" name="__codelineno-0-237"></a><a href="#__codelineno-0-237"><span class="linenos" data-linenos="237 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-238"><a id="__codelineno-0-238" name="__codelineno-0-238"></a><a href="#__codelineno-0-238"><span class="linenos" data-linenos="238 "></span></a><span class="k">def</span> <span class="nf">resetOdoMove</span><span class="p">(</span><span class="bp">cls</span><span class="p">):</span>
</span><span id="__span-0-239"><a id="__codelineno-0-239" name="__codelineno-0-239"></a><a href="#__codelineno-0-239"><span class="linenos" data-linenos="239 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot; &quot;&quot;&quot;</span>
</span><span id="__span-0-240"><a id="__codelineno-0-240" name="__codelineno-0-240"></a><a href="#__codelineno-0-240"><span class="linenos" data-linenos="240 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setBlockReason" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setBlockReason</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setBlockReason" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setBlockReason</span><span class="p">(</span><span class="n">collision_type</span><span class="p">:</span> <span class="n">int</span><span class="p">,</span> <span class="n">x</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">y</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="nb">id</span><span class="p">:</span> <span class="n">int</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>设置阻挡原因</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>collision_type</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>x</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>y</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>id</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>collision_type</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>阻挡原因见rbk.py脚本中的CollisionType类</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>x</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>障碍物位置</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>y</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>障碍物位置</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>id</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>障碍物id</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-242"><a id="__codelineno-0-242" name="__codelineno-0-242"></a><a href="#__codelineno-0-242"><span class="linenos" data-linenos="242 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-243"><a id="__codelineno-0-243" name="__codelineno-0-243"></a><a href="#__codelineno-0-243"><span class="linenos" data-linenos="243 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-244"><a id="__codelineno-0-244" name="__codelineno-0-244"></a><a href="#__codelineno-0-244"><span class="linenos" data-linenos="244 "></span></a><span class="k">def</span> <span class="nf">setBlockReason</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">collision_type</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">x</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">y</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="nb">id</span><span class="p">:</span> <span class="nb">int</span><span class="p">):</span>
</span><span id="__span-0-245"><a id="__codelineno-0-245" name="__codelineno-0-245"></a><a href="#__codelineno-0-245"><span class="linenos" data-linenos="245 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;设置阻挡原因</span>
</span><span id="__span-0-246"><a id="__codelineno-0-246" name="__codelineno-0-246"></a><a href="#__codelineno-0-246"><span class="linenos" data-linenos="246 "></span></a>
</span><span id="__span-0-247"><a id="__codelineno-0-247" name="__codelineno-0-247"></a><a href="#__codelineno-0-247"><span class="linenos" data-linenos="247 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-248"><a id="__codelineno-0-248" name="__codelineno-0-248"></a><a href="#__codelineno-0-248"><span class="linenos" data-linenos="248 "></span></a><span class="sd">        collision_type (int): 阻挡原因见rbk.py脚本中的CollisionType类</span>
</span><span id="__span-0-249"><a id="__codelineno-0-249" name="__codelineno-0-249"></a><a href="#__codelineno-0-249"><span class="linenos" data-linenos="249 "></span></a><span class="sd">        x (float): 障碍物位置</span>
</span><span id="__span-0-250"><a id="__codelineno-0-250" name="__codelineno-0-250"></a><a href="#__codelineno-0-250"><span class="linenos" data-linenos="250 "></span></a><span class="sd">        y (float): 障碍物位置</span>
</span><span id="__span-0-251"><a id="__codelineno-0-251" name="__codelineno-0-251"></a><a href="#__codelineno-0-251"><span class="linenos" data-linenos="251 "></span></a><span class="sd">        id (float): 障碍物id</span>
</span><span id="__span-0-252"><a id="__codelineno-0-252" name="__codelineno-0-252"></a><a href="#__codelineno-0-252"><span class="linenos" data-linenos="252 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-253"><a id="__codelineno-0-253" name="__codelineno-0-253"></a><a href="#__codelineno-0-253"><span class="linenos" data-linenos="253 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setGlobalSpinAngle" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setGlobalSpinAngle</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setGlobalSpinAngle" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setGlobalSpinAngle</span><span class="p">(</span><span class="n">angle</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">direction</span><span class="p">:</span> <span class="n">int</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">



<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>direction</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>direction</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-255"><a id="__codelineno-0-255" name="__codelineno-0-255"></a><a href="#__codelineno-0-255"><span class="linenos" data-linenos="255 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-256"><a id="__codelineno-0-256" name="__codelineno-0-256"></a><a href="#__codelineno-0-256"><span class="linenos" data-linenos="256 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-257"><a id="__codelineno-0-257" name="__codelineno-0-257"></a><a href="#__codelineno-0-257"><span class="linenos" data-linenos="257 "></span></a><span class="k">def</span> <span class="nf">setGlobalSpinAngle</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">angle</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">direction</span><span class="p">:</span> <span class="nb">int</span><span class="p">):</span>
</span><span id="__span-0-258"><a id="__codelineno-0-258" name="__codelineno-0-258"></a><a href="#__codelineno-0-258"><span class="linenos" data-linenos="258 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
</span><span id="__span-0-259"><a id="__codelineno-0-259" name="__codelineno-0-259"></a><a href="#__codelineno-0-259"><span class="linenos" data-linenos="259 "></span></a>
</span><span id="__span-0-260"><a id="__codelineno-0-260" name="__codelineno-0-260"></a><a href="#__codelineno-0-260"><span class="linenos" data-linenos="260 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-261"><a id="__codelineno-0-261" name="__codelineno-0-261"></a><a href="#__codelineno-0-261"><span class="linenos" data-linenos="261 "></span></a><span class="sd">        angle (float):</span>
</span><span id="__span-0-262"><a id="__codelineno-0-262" name="__codelineno-0-262"></a><a href="#__codelineno-0-262"><span class="linenos" data-linenos="262 "></span></a><span class="sd">        direction (int):</span>
</span><span id="__span-0-263"><a id="__codelineno-0-263" name="__codelineno-0-263"></a><a href="#__codelineno-0-263"><span class="linenos" data-linenos="263 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-264"><a id="__codelineno-0-264" name="__codelineno-0-264"></a><a href="#__codelineno-0-264"><span class="linenos" data-linenos="264 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setGoForkForkPos" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setGoForkForkPos</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setGoForkForkPos" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setGoForkForkPos</span><span class="p">(</span><span class="n">x</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">y</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">theta</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">hold_dir</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>重置叉车去往识别点的路径规划</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>x</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>y</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>theta</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>hold_dir</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>x</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>货叉相对于里程中心的 x 轴坐标 m</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>y</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>货叉相对于里程中心的 y 轴坐标 m</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>theta</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>是货叉相对于里程中心的偏移角度 rad</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>hold_dir</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>是车体的横移角度 单位：°</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-266"><a id="__codelineno-0-266" name="__codelineno-0-266"></a><a href="#__codelineno-0-266"><span class="linenos" data-linenos="266 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-267"><a id="__codelineno-0-267" name="__codelineno-0-267"></a><a href="#__codelineno-0-267"><span class="linenos" data-linenos="267 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-268"><a id="__codelineno-0-268" name="__codelineno-0-268"></a><a href="#__codelineno-0-268"><span class="linenos" data-linenos="268 "></span></a><span class="k">def</span> <span class="nf">setGoForkForkPos</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">x</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">y</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">theta</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">hold_dir</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
</span><span id="__span-0-269"><a id="__codelineno-0-269" name="__codelineno-0-269"></a><a href="#__codelineno-0-269"><span class="linenos" data-linenos="269 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;重置叉车去往识别点的路径规划</span>
</span><span id="__span-0-270"><a id="__codelineno-0-270" name="__codelineno-0-270"></a><a href="#__codelineno-0-270"><span class="linenos" data-linenos="270 "></span></a>
</span><span id="__span-0-271"><a id="__codelineno-0-271" name="__codelineno-0-271"></a><a href="#__codelineno-0-271"><span class="linenos" data-linenos="271 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-272"><a id="__codelineno-0-272" name="__codelineno-0-272"></a><a href="#__codelineno-0-272"><span class="linenos" data-linenos="272 "></span></a><span class="sd">        x (float): 货叉相对于里程中心的 x 轴坐标 m</span>
</span><span id="__span-0-273"><a id="__codelineno-0-273" name="__codelineno-0-273"></a><a href="#__codelineno-0-273"><span class="linenos" data-linenos="273 "></span></a><span class="sd">        y (float): 货叉相对于里程中心的 y 轴坐标 m</span>
</span><span id="__span-0-274"><a id="__codelineno-0-274" name="__codelineno-0-274"></a><a href="#__codelineno-0-274"><span class="linenos" data-linenos="274 "></span></a><span class="sd">        theta (float): 是货叉相对于里程中心的偏移角度 rad</span>
</span><span id="__span-0-275"><a id="__codelineno-0-275" name="__codelineno-0-275"></a><a href="#__codelineno-0-275"><span class="linenos" data-linenos="275 "></span></a><span class="sd">        hold_dir (float): 是车体的横移角度 单位：°</span>
</span><span id="__span-0-276"><a id="__codelineno-0-276" name="__codelineno-0-276"></a><a href="#__codelineno-0-276"><span class="linenos" data-linenos="276 "></span></a>
</span><span id="__span-0-277"><a id="__codelineno-0-277" name="__codelineno-0-277"></a><a href="#__codelineno-0-277"><span class="linenos" data-linenos="277 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-278"><a id="__codelineno-0-278" name="__codelineno-0-278"></a><a href="#__codelineno-0-278"><span class="linenos" data-linenos="278 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setGoodsShape" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setGoodsShape</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setGoodsShape" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setGoodsShape</span><span class="p">(</span><span class="n">head</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">tail</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">width</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>设置货物形状，并且告诉rbk车上装载有货物了。
   如果head,tail, width都小于等于0，则没有货物形状。
   货物的0，0点与小车的0，0点一样</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>head</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>tail</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>width</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>head</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>货物头部长度</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>tail</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>货物的尾部长度</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>width</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>货物的宽度</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-280"><a id="__codelineno-0-280" name="__codelineno-0-280"></a><a href="#__codelineno-0-280"><span class="linenos" data-linenos="280 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-281"><a id="__codelineno-0-281" name="__codelineno-0-281"></a><a href="#__codelineno-0-281"><span class="linenos" data-linenos="281 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-282"><a id="__codelineno-0-282" name="__codelineno-0-282"></a><a href="#__codelineno-0-282"><span class="linenos" data-linenos="282 "></span></a><span class="k">def</span> <span class="nf">setGoodsShape</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">head</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">tail</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">width</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
</span><span id="__span-0-283"><a id="__codelineno-0-283" name="__codelineno-0-283"></a><a href="#__codelineno-0-283"><span class="linenos" data-linenos="283 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;设置货物形状，并且告诉rbk车上装载有货物了。</span>
</span><span id="__span-0-284"><a id="__codelineno-0-284" name="__codelineno-0-284"></a><a href="#__codelineno-0-284"><span class="linenos" data-linenos="284 "></span></a><span class="sd">       如果head,tail, width都小于等于0，则没有货物形状。</span>
</span><span id="__span-0-285"><a id="__codelineno-0-285" name="__codelineno-0-285"></a><a href="#__codelineno-0-285"><span class="linenos" data-linenos="285 "></span></a><span class="sd">       货物的0，0点与小车的0，0点一样</span>
</span><span id="__span-0-286"><a id="__codelineno-0-286" name="__codelineno-0-286"></a><a href="#__codelineno-0-286"><span class="linenos" data-linenos="286 "></span></a>
</span><span id="__span-0-287"><a id="__codelineno-0-287" name="__codelineno-0-287"></a><a href="#__codelineno-0-287"><span class="linenos" data-linenos="287 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-288"><a id="__codelineno-0-288" name="__codelineno-0-288"></a><a href="#__codelineno-0-288"><span class="linenos" data-linenos="288 "></span></a><span class="sd">        head (float): 货物头部长度</span>
</span><span id="__span-0-289"><a id="__codelineno-0-289" name="__codelineno-0-289"></a><a href="#__codelineno-0-289"><span class="linenos" data-linenos="289 "></span></a><span class="sd">        tail (float): 货物的尾部长度</span>
</span><span id="__span-0-290"><a id="__codelineno-0-290" name="__codelineno-0-290"></a><a href="#__codelineno-0-290"><span class="linenos" data-linenos="290 "></span></a><span class="sd">        width (float): 货物的宽度</span>
</span><span id="__span-0-291"><a id="__codelineno-0-291" name="__codelineno-0-291"></a><a href="#__codelineno-0-291"><span class="linenos" data-linenos="291 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-292"><a id="__codelineno-0-292" name="__codelineno-0-292"></a><a href="#__codelineno-0-292"><span class="linenos" data-linenos="292 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setGoodsShapeWithName" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setGoodsShapeWithName</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setGoodsShapeWithName" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setGoodsShapeWithName</span><span class="p">(</span><span class="n">head</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">tail</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">width</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">recfile</span><span class="p">:</span> <span class="n">str</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>设置货物形状时传入识别文件路径</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>head</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>tail</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>width</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>recfile</code></td>
            <td>
                  <code>str</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>head</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>tail</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>width</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>recfile</code></td>
            <td>
                  <code>str</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-294"><a id="__codelineno-0-294" name="__codelineno-0-294"></a><a href="#__codelineno-0-294"><span class="linenos" data-linenos="294 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-295"><a id="__codelineno-0-295" name="__codelineno-0-295"></a><a href="#__codelineno-0-295"><span class="linenos" data-linenos="295 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-296"><a id="__codelineno-0-296" name="__codelineno-0-296"></a><a href="#__codelineno-0-296"><span class="linenos" data-linenos="296 "></span></a><span class="k">def</span> <span class="nf">setGoodsShapeWithName</span><span class="p">(</span>
</span><span id="__span-0-297"><a id="__codelineno-0-297" name="__codelineno-0-297"></a><a href="#__codelineno-0-297"><span class="linenos" data-linenos="297 "></span></a>        <span class="bp">cls</span><span class="p">,</span> <span class="n">head</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">tail</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">width</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">recfile</span><span class="p">:</span> <span class="nb">str</span>
</span><span id="__span-0-298"><a id="__codelineno-0-298" name="__codelineno-0-298"></a><a href="#__codelineno-0-298"><span class="linenos" data-linenos="298 "></span></a><span class="p">):</span>
</span><span id="__span-0-299"><a id="__codelineno-0-299" name="__codelineno-0-299"></a><a href="#__codelineno-0-299"><span class="linenos" data-linenos="299 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;设置货物形状时传入识别文件路径</span>
</span><span id="__span-0-300"><a id="__codelineno-0-300" name="__codelineno-0-300"></a><a href="#__codelineno-0-300"><span class="linenos" data-linenos="300 "></span></a>
</span><span id="__span-0-301"><a id="__codelineno-0-301" name="__codelineno-0-301"></a><a href="#__codelineno-0-301"><span class="linenos" data-linenos="301 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-302"><a id="__codelineno-0-302" name="__codelineno-0-302"></a><a href="#__codelineno-0-302"><span class="linenos" data-linenos="302 "></span></a><span class="sd">        head (float):</span>
</span><span id="__span-0-303"><a id="__codelineno-0-303" name="__codelineno-0-303"></a><a href="#__codelineno-0-303"><span class="linenos" data-linenos="303 "></span></a><span class="sd">        tail (float):</span>
</span><span id="__span-0-304"><a id="__codelineno-0-304" name="__codelineno-0-304"></a><a href="#__codelineno-0-304"><span class="linenos" data-linenos="304 "></span></a><span class="sd">        width (float):</span>
</span><span id="__span-0-305"><a id="__codelineno-0-305" name="__codelineno-0-305"></a><a href="#__codelineno-0-305"><span class="linenos" data-linenos="305 "></span></a><span class="sd">        recfile (str):</span>
</span><span id="__span-0-306"><a id="__codelineno-0-306" name="__codelineno-0-306"></a><a href="#__codelineno-0-306"><span class="linenos" data-linenos="306 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-307"><a id="__codelineno-0-307" name="__codelineno-0-307"></a><a href="#__codelineno-0-307"><span class="linenos" data-linenos="307 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setIncreaseSpinAngle" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setIncreaseSpinAngle</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setIncreaseSpinAngle" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setIncreaseSpinAngle</span><span class="p">(</span><span class="n">angle</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>设置货物形状时传入识别文件路径</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-309"><a id="__codelineno-0-309" name="__codelineno-0-309"></a><a href="#__codelineno-0-309"><span class="linenos" data-linenos="309 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-310"><a id="__codelineno-0-310" name="__codelineno-0-310"></a><a href="#__codelineno-0-310"><span class="linenos" data-linenos="310 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-311"><a id="__codelineno-0-311" name="__codelineno-0-311"></a><a href="#__codelineno-0-311"><span class="linenos" data-linenos="311 "></span></a><span class="k">def</span> <span class="nf">setIncreaseSpinAngle</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">angle</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
</span><span id="__span-0-312"><a id="__codelineno-0-312" name="__codelineno-0-312"></a><a href="#__codelineno-0-312"><span class="linenos" data-linenos="312 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;设置货物形状时传入识别文件路径</span>
</span><span id="__span-0-313"><a id="__codelineno-0-313" name="__codelineno-0-313"></a><a href="#__codelineno-0-313"><span class="linenos" data-linenos="313 "></span></a>
</span><span id="__span-0-314"><a id="__codelineno-0-314" name="__codelineno-0-314"></a><a href="#__codelineno-0-314"><span class="linenos" data-linenos="314 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-315"><a id="__codelineno-0-315" name="__codelineno-0-315"></a><a href="#__codelineno-0-315"><span class="linenos" data-linenos="315 "></span></a><span class="sd">        angle (float):</span>
</span><span id="__span-0-316"><a id="__codelineno-0-316" name="__codelineno-0-316"></a><a href="#__codelineno-0-316"><span class="linenos" data-linenos="316 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-317"><a id="__codelineno-0-317" name="__codelineno-0-317"></a><a href="#__codelineno-0-317"><span class="linenos" data-linenos="317 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setLocalShelfArea" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setLocalShelfArea</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setLocalShelfArea" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setLocalShelfArea</span><span class="p">(</span><span class="n">object_model_path</span><span class="p">:</span> <span class="n">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">bool</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>加载顶升上的货物模型</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>object_model_path</code></td>
            <td>
                  <code>str</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>object_model_path</code></td>
            <td>
                  <code>str</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>货架模型文件名称</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>bool</code></td>            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>如果不存在这个货架模型则报错</p>
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-319"><a id="__codelineno-0-319" name="__codelineno-0-319"></a><a href="#__codelineno-0-319"><span class="linenos" data-linenos="319 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-320"><a id="__codelineno-0-320" name="__codelineno-0-320"></a><a href="#__codelineno-0-320"><span class="linenos" data-linenos="320 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-321"><a id="__codelineno-0-321" name="__codelineno-0-321"></a><a href="#__codelineno-0-321"><span class="linenos" data-linenos="321 "></span></a><span class="k">def</span> <span class="nf">setLocalShelfArea</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">object_model_path</span><span class="p">:</span> <span class="nb">str</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
</span><span id="__span-0-322"><a id="__codelineno-0-322" name="__codelineno-0-322"></a><a href="#__codelineno-0-322"><span class="linenos" data-linenos="322 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;加载顶升上的货物模型</span>
</span><span id="__span-0-323"><a id="__codelineno-0-323" name="__codelineno-0-323"></a><a href="#__codelineno-0-323"><span class="linenos" data-linenos="323 "></span></a>
</span><span id="__span-0-324"><a id="__codelineno-0-324" name="__codelineno-0-324"></a><a href="#__codelineno-0-324"><span class="linenos" data-linenos="324 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-325"><a id="__codelineno-0-325" name="__codelineno-0-325"></a><a href="#__codelineno-0-325"><span class="linenos" data-linenos="325 "></span></a><span class="sd">        object_model_path (str): 货架模型文件名称</span>
</span><span id="__span-0-326"><a id="__codelineno-0-326" name="__codelineno-0-326"></a><a href="#__codelineno-0-326"><span class="linenos" data-linenos="326 "></span></a>
</span><span id="__span-0-327"><a id="__codelineno-0-327" name="__codelineno-0-327"></a><a href="#__codelineno-0-327"><span class="linenos" data-linenos="327 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-328"><a id="__codelineno-0-328" name="__codelineno-0-328"></a><a href="#__codelineno-0-328"><span class="linenos" data-linenos="328 "></span></a><span class="sd">        bool: 如果不存在这个货架模型则报错</span>
</span><span id="__span-0-329"><a id="__codelineno-0-329" name="__codelineno-0-329"></a><a href="#__codelineno-0-329"><span class="linenos" data-linenos="329 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-330"><a id="__codelineno-0-330" name="__codelineno-0-330"></a><a href="#__codelineno-0-330"><span class="linenos" data-linenos="330 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setObsStopDist" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setObsStopDist</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setObsStopDist" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setObsStopDist</span><span class="p">(</span><span class="n">dist</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>设置避障距离</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>dist</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>dist</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>避障距离，单位 m</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-332"><a id="__codelineno-0-332" name="__codelineno-0-332"></a><a href="#__codelineno-0-332"><span class="linenos" data-linenos="332 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-333"><a id="__codelineno-0-333" name="__codelineno-0-333"></a><a href="#__codelineno-0-333"><span class="linenos" data-linenos="333 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-334"><a id="__codelineno-0-334" name="__codelineno-0-334"></a><a href="#__codelineno-0-334"><span class="linenos" data-linenos="334 "></span></a><span class="k">def</span> <span class="nf">setObsStopDist</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">dist</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
</span><span id="__span-0-335"><a id="__codelineno-0-335" name="__codelineno-0-335"></a><a href="#__codelineno-0-335"><span class="linenos" data-linenos="335 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;设置避障距离</span>
</span><span id="__span-0-336"><a id="__codelineno-0-336" name="__codelineno-0-336"></a><a href="#__codelineno-0-336"><span class="linenos" data-linenos="336 "></span></a>
</span><span id="__span-0-337"><a id="__codelineno-0-337" name="__codelineno-0-337"></a><a href="#__codelineno-0-337"><span class="linenos" data-linenos="337 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-338"><a id="__codelineno-0-338" name="__codelineno-0-338"></a><a href="#__codelineno-0-338"><span class="linenos" data-linenos="338 "></span></a><span class="sd">        dist (float): 避障距离，单位 m</span>
</span><span id="__span-0-339"><a id="__codelineno-0-339" name="__codelineno-0-339"></a><a href="#__codelineno-0-339"><span class="linenos" data-linenos="339 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-340"><a id="__codelineno-0-340" name="__codelineno-0-340"></a><a href="#__codelineno-0-340"><span class="linenos" data-linenos="340 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setPathBackMode" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setPathBackMode</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setPathBackMode" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setPathBackMode</span><span class="p">(</span><span class="n">a</span><span class="p">:</span> <span class="n">bool</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>路径导航是否倒走</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>如果倒走则为True</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-342"><a id="__codelineno-0-342" name="__codelineno-0-342"></a><a href="#__codelineno-0-342"><span class="linenos" data-linenos="342 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-343"><a id="__codelineno-0-343" name="__codelineno-0-343"></a><a href="#__codelineno-0-343"><span class="linenos" data-linenos="343 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-344"><a id="__codelineno-0-344" name="__codelineno-0-344"></a><a href="#__codelineno-0-344"><span class="linenos" data-linenos="344 "></span></a><span class="k">def</span> <span class="nf">setPathBackMode</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">a</span><span class="p">:</span> <span class="nb">bool</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
</span><span id="__span-0-345"><a id="__codelineno-0-345" name="__codelineno-0-345"></a><a href="#__codelineno-0-345"><span class="linenos" data-linenos="345 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;路径导航是否倒走</span>
</span><span id="__span-0-346"><a id="__codelineno-0-346" name="__codelineno-0-346"></a><a href="#__codelineno-0-346"><span class="linenos" data-linenos="346 "></span></a>
</span><span id="__span-0-347"><a id="__codelineno-0-347" name="__codelineno-0-347"></a><a href="#__codelineno-0-347"><span class="linenos" data-linenos="347 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-348"><a id="__codelineno-0-348" name="__codelineno-0-348"></a><a href="#__codelineno-0-348"><span class="linenos" data-linenos="348 "></span></a><span class="sd">        a (bool): 如果倒走则为True</span>
</span><span id="__span-0-349"><a id="__codelineno-0-349" name="__codelineno-0-349"></a><a href="#__codelineno-0-349"><span class="linenos" data-linenos="349 "></span></a>
</span><span id="__span-0-350"><a id="__codelineno-0-350" name="__codelineno-0-350"></a><a href="#__codelineno-0-350"><span class="linenos" data-linenos="350 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-351"><a id="__codelineno-0-351" name="__codelineno-0-351"></a><a href="#__codelineno-0-351"><span class="linenos" data-linenos="351 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setPathHoldDir" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setPathHoldDir</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setPathHoldDir" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setPathHoldDir</span><span class="p">(</span><span class="n">a</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>路径导航的 hold_dir</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>单位度</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-353"><a id="__codelineno-0-353" name="__codelineno-0-353"></a><a href="#__codelineno-0-353"><span class="linenos" data-linenos="353 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-354"><a id="__codelineno-0-354" name="__codelineno-0-354"></a><a href="#__codelineno-0-354"><span class="linenos" data-linenos="354 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-355"><a id="__codelineno-0-355" name="__codelineno-0-355"></a><a href="#__codelineno-0-355"><span class="linenos" data-linenos="355 "></span></a><span class="k">def</span> <span class="nf">setPathHoldDir</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">a</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
</span><span id="__span-0-356"><a id="__codelineno-0-356" name="__codelineno-0-356"></a><a href="#__codelineno-0-356"><span class="linenos" data-linenos="356 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;路径导航的 hold_dir</span>
</span><span id="__span-0-357"><a id="__codelineno-0-357" name="__codelineno-0-357"></a><a href="#__codelineno-0-357"><span class="linenos" data-linenos="357 "></span></a>
</span><span id="__span-0-358"><a id="__codelineno-0-358" name="__codelineno-0-358"></a><a href="#__codelineno-0-358"><span class="linenos" data-linenos="358 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-359"><a id="__codelineno-0-359" name="__codelineno-0-359"></a><a href="#__codelineno-0-359"><span class="linenos" data-linenos="359 "></span></a><span class="sd">        a (float): 单位度</span>
</span><span id="__span-0-360"><a id="__codelineno-0-360" name="__codelineno-0-360"></a><a href="#__codelineno-0-360"><span class="linenos" data-linenos="360 "></span></a>
</span><span id="__span-0-361"><a id="__codelineno-0-361" name="__codelineno-0-361"></a><a href="#__codelineno-0-361"><span class="linenos" data-linenos="361 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-362"><a id="__codelineno-0-362" name="__codelineno-0-362"></a><a href="#__codelineno-0-362"><span class="linenos" data-linenos="362 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setPathMaxRot" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setPathMaxRot</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setPathMaxRot" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setPathMaxRot</span><span class="p">(</span><span class="n">a</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>路径导航的最大角速度</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>单位rad/s</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-364"><a id="__codelineno-0-364" name="__codelineno-0-364"></a><a href="#__codelineno-0-364"><span class="linenos" data-linenos="364 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-365"><a id="__codelineno-0-365" name="__codelineno-0-365"></a><a href="#__codelineno-0-365"><span class="linenos" data-linenos="365 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-366"><a id="__codelineno-0-366" name="__codelineno-0-366"></a><a href="#__codelineno-0-366"><span class="linenos" data-linenos="366 "></span></a><span class="k">def</span> <span class="nf">setPathMaxRot</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">a</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
</span><span id="__span-0-367"><a id="__codelineno-0-367" name="__codelineno-0-367"></a><a href="#__codelineno-0-367"><span class="linenos" data-linenos="367 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;路径导航的最大角速度</span>
</span><span id="__span-0-368"><a id="__codelineno-0-368" name="__codelineno-0-368"></a><a href="#__codelineno-0-368"><span class="linenos" data-linenos="368 "></span></a>
</span><span id="__span-0-369"><a id="__codelineno-0-369" name="__codelineno-0-369"></a><a href="#__codelineno-0-369"><span class="linenos" data-linenos="369 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-370"><a id="__codelineno-0-370" name="__codelineno-0-370"></a><a href="#__codelineno-0-370"><span class="linenos" data-linenos="370 "></span></a><span class="sd">        a (float): 单位rad/s</span>
</span><span id="__span-0-371"><a id="__codelineno-0-371" name="__codelineno-0-371"></a><a href="#__codelineno-0-371"><span class="linenos" data-linenos="371 "></span></a>
</span><span id="__span-0-372"><a id="__codelineno-0-372" name="__codelineno-0-372"></a><a href="#__codelineno-0-372"><span class="linenos" data-linenos="372 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-373"><a id="__codelineno-0-373" name="__codelineno-0-373"></a><a href="#__codelineno-0-373"><span class="linenos" data-linenos="373 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setPathMaxSpeed" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setPathMaxSpeed</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setPathMaxSpeed" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setPathMaxSpeed</span><span class="p">(</span><span class="n">a</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>路径导航的最大速度</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>单位m/s</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-375"><a id="__codelineno-0-375" name="__codelineno-0-375"></a><a href="#__codelineno-0-375"><span class="linenos" data-linenos="375 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-376"><a id="__codelineno-0-376" name="__codelineno-0-376"></a><a href="#__codelineno-0-376"><span class="linenos" data-linenos="376 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-377"><a id="__codelineno-0-377" name="__codelineno-0-377"></a><a href="#__codelineno-0-377"><span class="linenos" data-linenos="377 "></span></a><span class="k">def</span> <span class="nf">setPathMaxSpeed</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">a</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
</span><span id="__span-0-378"><a id="__codelineno-0-378" name="__codelineno-0-378"></a><a href="#__codelineno-0-378"><span class="linenos" data-linenos="378 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;路径导航的最大速度</span>
</span><span id="__span-0-379"><a id="__codelineno-0-379" name="__codelineno-0-379"></a><a href="#__codelineno-0-379"><span class="linenos" data-linenos="379 "></span></a>
</span><span id="__span-0-380"><a id="__codelineno-0-380" name="__codelineno-0-380"></a><a href="#__codelineno-0-380"><span class="linenos" data-linenos="380 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-381"><a id="__codelineno-0-381" name="__codelineno-0-381"></a><a href="#__codelineno-0-381"><span class="linenos" data-linenos="381 "></span></a><span class="sd">        a (float): 单位m/s</span>
</span><span id="__span-0-382"><a id="__codelineno-0-382" name="__codelineno-0-382"></a><a href="#__codelineno-0-382"><span class="linenos" data-linenos="382 "></span></a>
</span><span id="__span-0-383"><a id="__codelineno-0-383" name="__codelineno-0-383"></a><a href="#__codelineno-0-383"><span class="linenos" data-linenos="383 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-384"><a id="__codelineno-0-384" name="__codelineno-0-384"></a><a href="#__codelineno-0-384"><span class="linenos" data-linenos="384 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setPathOnRobot" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setPathOnRobot</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setPathOnRobot" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setPathOnRobot</span><span class="p">(</span><span class="n">x</span><span class="p">:</span> <span class="n">list</span><span class="p">,</span> <span class="n">y</span><span class="p">:</span> <span class="n">list</span><span class="p">,</span> <span class="n">angle</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>让agv在agv坐标系下以特定线路行走</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>x</code></td>
            <td>
                  <code>list</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>y</code></td>
            <td>
                  <code>list</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>x</code></td>
            <td>
                  <code>list</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>线路的x坐标</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>y</code></td>
            <td>
                  <code>list</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>线路的y坐标</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>终点的朝向</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-386"><a id="__codelineno-0-386" name="__codelineno-0-386"></a><a href="#__codelineno-0-386"><span class="linenos" data-linenos="386 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-387"><a id="__codelineno-0-387" name="__codelineno-0-387"></a><a href="#__codelineno-0-387"><span class="linenos" data-linenos="387 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-388"><a id="__codelineno-0-388" name="__codelineno-0-388"></a><a href="#__codelineno-0-388"><span class="linenos" data-linenos="388 "></span></a><span class="k">def</span> <span class="nf">setPathOnRobot</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">x</span><span class="p">:</span> <span class="nb">list</span><span class="p">,</span> <span class="n">y</span><span class="p">:</span> <span class="nb">list</span><span class="p">,</span> <span class="n">angle</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
</span><span id="__span-0-389"><a id="__codelineno-0-389" name="__codelineno-0-389"></a><a href="#__codelineno-0-389"><span class="linenos" data-linenos="389 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;让agv在agv坐标系下以特定线路行走</span>
</span><span id="__span-0-390"><a id="__codelineno-0-390" name="__codelineno-0-390"></a><a href="#__codelineno-0-390"><span class="linenos" data-linenos="390 "></span></a>
</span><span id="__span-0-391"><a id="__codelineno-0-391" name="__codelineno-0-391"></a><a href="#__codelineno-0-391"><span class="linenos" data-linenos="391 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-392"><a id="__codelineno-0-392" name="__codelineno-0-392"></a><a href="#__codelineno-0-392"><span class="linenos" data-linenos="392 "></span></a><span class="sd">        x (list): 线路的x坐标</span>
</span><span id="__span-0-393"><a id="__codelineno-0-393" name="__codelineno-0-393"></a><a href="#__codelineno-0-393"><span class="linenos" data-linenos="393 "></span></a><span class="sd">        y (list): 线路的y坐标</span>
</span><span id="__span-0-394"><a id="__codelineno-0-394" name="__codelineno-0-394"></a><a href="#__codelineno-0-394"><span class="linenos" data-linenos="394 "></span></a><span class="sd">        angle (float): 终点的朝向</span>
</span><span id="__span-0-395"><a id="__codelineno-0-395" name="__codelineno-0-395"></a><a href="#__codelineno-0-395"><span class="linenos" data-linenos="395 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-396"><a id="__codelineno-0-396" name="__codelineno-0-396"></a><a href="#__codelineno-0-396"><span class="linenos" data-linenos="396 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setPathOnWorld" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setPathOnWorld</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setPathOnWorld" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setPathOnWorld</span><span class="p">(</span><span class="n">x</span><span class="p">:</span> <span class="n">list</span><span class="p">,</span> <span class="n">y</span><span class="p">:</span> <span class="n">list</span><span class="p">,</span> <span class="n">angle</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>让agv在世界坐标系下以特定线路行走</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>x</code></td>
            <td>
                  <code>list</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>y</code></td>
            <td>
                  <code>list</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>x</code></td>
            <td>
                  <code>list</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>线路的x坐标</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>y</code></td>
            <td>
                  <code>list</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>线路的y坐标</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>终点的朝向</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-398"><a id="__codelineno-0-398" name="__codelineno-0-398"></a><a href="#__codelineno-0-398"><span class="linenos" data-linenos="398 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-399"><a id="__codelineno-0-399" name="__codelineno-0-399"></a><a href="#__codelineno-0-399"><span class="linenos" data-linenos="399 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-400"><a id="__codelineno-0-400" name="__codelineno-0-400"></a><a href="#__codelineno-0-400"><span class="linenos" data-linenos="400 "></span></a><span class="k">def</span> <span class="nf">setPathOnWorld</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">x</span><span class="p">:</span> <span class="nb">list</span><span class="p">,</span> <span class="n">y</span><span class="p">:</span> <span class="nb">list</span><span class="p">,</span> <span class="n">angle</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
</span><span id="__span-0-401"><a id="__codelineno-0-401" name="__codelineno-0-401"></a><a href="#__codelineno-0-401"><span class="linenos" data-linenos="401 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;让agv在世界坐标系下以特定线路行走</span>
</span><span id="__span-0-402"><a id="__codelineno-0-402" name="__codelineno-0-402"></a><a href="#__codelineno-0-402"><span class="linenos" data-linenos="402 "></span></a>
</span><span id="__span-0-403"><a id="__codelineno-0-403" name="__codelineno-0-403"></a><a href="#__codelineno-0-403"><span class="linenos" data-linenos="403 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-404"><a id="__codelineno-0-404" name="__codelineno-0-404"></a><a href="#__codelineno-0-404"><span class="linenos" data-linenos="404 "></span></a><span class="sd">        x (list): 线路的x坐标</span>
</span><span id="__span-0-405"><a id="__codelineno-0-405" name="__codelineno-0-405"></a><a href="#__codelineno-0-405"><span class="linenos" data-linenos="405 "></span></a><span class="sd">        y (list): 线路的y坐标</span>
</span><span id="__span-0-406"><a id="__codelineno-0-406" name="__codelineno-0-406"></a><a href="#__codelineno-0-406"><span class="linenos" data-linenos="406 "></span></a><span class="sd">        angle (float): 终点的朝向</span>
</span><span id="__span-0-407"><a id="__codelineno-0-407" name="__codelineno-0-407"></a><a href="#__codelineno-0-407"><span class="linenos" data-linenos="407 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-408"><a id="__codelineno-0-408" name="__codelineno-0-408"></a><a href="#__codelineno-0-408"><span class="linenos" data-linenos="408 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setPathReachAngle" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setPathReachAngle</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setPathReachAngle" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setPathReachAngle</span><span class="p">(</span><span class="n">a</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>路径导航的到点角度精度</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>单位rad</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-410"><a id="__codelineno-0-410" name="__codelineno-0-410"></a><a href="#__codelineno-0-410"><span class="linenos" data-linenos="410 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-411"><a id="__codelineno-0-411" name="__codelineno-0-411"></a><a href="#__codelineno-0-411"><span class="linenos" data-linenos="411 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-412"><a id="__codelineno-0-412" name="__codelineno-0-412"></a><a href="#__codelineno-0-412"><span class="linenos" data-linenos="412 "></span></a><span class="k">def</span> <span class="nf">setPathReachAngle</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">a</span><span class="p">:</span> <span class="nb">float</span><span class="p">):</span>
</span><span id="__span-0-413"><a id="__codelineno-0-413" name="__codelineno-0-413"></a><a href="#__codelineno-0-413"><span class="linenos" data-linenos="413 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;路径导航的到点角度精度</span>
</span><span id="__span-0-414"><a id="__codelineno-0-414" name="__codelineno-0-414"></a><a href="#__codelineno-0-414"><span class="linenos" data-linenos="414 "></span></a>
</span><span id="__span-0-415"><a id="__codelineno-0-415" name="__codelineno-0-415"></a><a href="#__codelineno-0-415"><span class="linenos" data-linenos="415 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-416"><a id="__codelineno-0-416" name="__codelineno-0-416"></a><a href="#__codelineno-0-416"><span class="linenos" data-linenos="416 "></span></a><span class="sd">        a (float): 单位rad</span>
</span><span id="__span-0-417"><a id="__codelineno-0-417" name="__codelineno-0-417"></a><a href="#__codelineno-0-417"><span class="linenos" data-linenos="417 "></span></a>
</span><span id="__span-0-418"><a id="__codelineno-0-418" name="__codelineno-0-418"></a><a href="#__codelineno-0-418"><span class="linenos" data-linenos="418 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-419"><a id="__codelineno-0-419" name="__codelineno-0-419"></a><a href="#__codelineno-0-419"><span class="linenos" data-linenos="419 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setPathReachDist" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setPathReachDist</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setPathReachDist" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setPathReachDist</span><span class="p">(</span><span class="n">a</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>路径导航的到点精度</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>单位m</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-421"><a id="__codelineno-0-421" name="__codelineno-0-421"></a><a href="#__codelineno-0-421"><span class="linenos" data-linenos="421 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-422"><a id="__codelineno-0-422" name="__codelineno-0-422"></a><a href="#__codelineno-0-422"><span class="linenos" data-linenos="422 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-423"><a id="__codelineno-0-423" name="__codelineno-0-423"></a><a href="#__codelineno-0-423"><span class="linenos" data-linenos="423 "></span></a><span class="k">def</span> <span class="nf">setPathReachDist</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">a</span><span class="p">:</span> <span class="nb">float</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="kc">None</span><span class="p">:</span>
</span><span id="__span-0-424"><a id="__codelineno-0-424" name="__codelineno-0-424"></a><a href="#__codelineno-0-424"><span class="linenos" data-linenos="424 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;路径导航的到点精度</span>
</span><span id="__span-0-425"><a id="__codelineno-0-425" name="__codelineno-0-425"></a><a href="#__codelineno-0-425"><span class="linenos" data-linenos="425 "></span></a>
</span><span id="__span-0-426"><a id="__codelineno-0-426" name="__codelineno-0-426"></a><a href="#__codelineno-0-426"><span class="linenos" data-linenos="426 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-427"><a id="__codelineno-0-427" name="__codelineno-0-427"></a><a href="#__codelineno-0-427"><span class="linenos" data-linenos="427 "></span></a><span class="sd">        a (float): 单位m</span>
</span><span id="__span-0-428"><a id="__codelineno-0-428" name="__codelineno-0-428"></a><a href="#__codelineno-0-428"><span class="linenos" data-linenos="428 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-429"><a id="__codelineno-0-429" name="__codelineno-0-429"></a><a href="#__codelineno-0-429"><span class="linenos" data-linenos="429 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setPathUseOdo" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setPathUseOdo</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setPathUseOdo" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setPathUseOdo</span><span class="p">(</span><span class="n">a</span><span class="p">:</span> <span class="n">bool</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>路径导航是否用里程定位</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>a</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>如果用里程定位则为True</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-431"><a id="__codelineno-0-431" name="__codelineno-0-431"></a><a href="#__codelineno-0-431"><span class="linenos" data-linenos="431 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-432"><a id="__codelineno-0-432" name="__codelineno-0-432"></a><a href="#__codelineno-0-432"><span class="linenos" data-linenos="432 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-433"><a id="__codelineno-0-433" name="__codelineno-0-433"></a><a href="#__codelineno-0-433"><span class="linenos" data-linenos="433 "></span></a><span class="k">def</span> <span class="nf">setPathUseOdo</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">a</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
</span><span id="__span-0-434"><a id="__codelineno-0-434" name="__codelineno-0-434"></a><a href="#__codelineno-0-434"><span class="linenos" data-linenos="434 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;路径导航是否用里程定位</span>
</span><span id="__span-0-435"><a id="__codelineno-0-435" name="__codelineno-0-435"></a><a href="#__codelineno-0-435"><span class="linenos" data-linenos="435 "></span></a>
</span><span id="__span-0-436"><a id="__codelineno-0-436" name="__codelineno-0-436"></a><a href="#__codelineno-0-436"><span class="linenos" data-linenos="436 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-437"><a id="__codelineno-0-437" name="__codelineno-0-437"></a><a href="#__codelineno-0-437"><span class="linenos" data-linenos="437 "></span></a><span class="sd">        a (bool): 如果用里程定位则为True</span>
</span><span id="__span-0-438"><a id="__codelineno-0-438" name="__codelineno-0-438"></a><a href="#__codelineno-0-438"><span class="linenos" data-linenos="438 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-439"><a id="__codelineno-0-439" name="__codelineno-0-439"></a><a href="#__codelineno-0-439"><span class="linenos" data-linenos="439 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setRobotSpinAngle" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setRobotSpinAngle</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setRobotSpinAngle" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setRobotSpinAngle</span><span class="p">(</span><span class="n">angle</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">direction</span><span class="p">:</span> <span class="n">int</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">



<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>direction</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>direction</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-441"><a id="__codelineno-0-441" name="__codelineno-0-441"></a><a href="#__codelineno-0-441"><span class="linenos" data-linenos="441 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-442"><a id="__codelineno-0-442" name="__codelineno-0-442"></a><a href="#__codelineno-0-442"><span class="linenos" data-linenos="442 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-443"><a id="__codelineno-0-443" name="__codelineno-0-443"></a><a href="#__codelineno-0-443"><span class="linenos" data-linenos="443 "></span></a><span class="k">def</span> <span class="nf">setRobotSpinAngle</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">angle</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span> <span class="n">direction</span><span class="p">:</span> <span class="nb">int</span><span class="p">):</span>
</span><span id="__span-0-444"><a id="__codelineno-0-444" name="__codelineno-0-444"></a><a href="#__codelineno-0-444"><span class="linenos" data-linenos="444 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
</span><span id="__span-0-445"><a id="__codelineno-0-445" name="__codelineno-0-445"></a><a href="#__codelineno-0-445"><span class="linenos" data-linenos="445 "></span></a>
</span><span id="__span-0-446"><a id="__codelineno-0-446" name="__codelineno-0-446"></a><a href="#__codelineno-0-446"><span class="linenos" data-linenos="446 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-447"><a id="__codelineno-0-447" name="__codelineno-0-447"></a><a href="#__codelineno-0-447"><span class="linenos" data-linenos="447 "></span></a><span class="sd">        angle (float):</span>
</span><span id="__span-0-448"><a id="__codelineno-0-448" name="__codelineno-0-448"></a><a href="#__codelineno-0-448"><span class="linenos" data-linenos="448 "></span></a><span class="sd">        direction (int):</span>
</span><span id="__span-0-449"><a id="__codelineno-0-449" name="__codelineno-0-449"></a><a href="#__codelineno-0-449"><span class="linenos" data-linenos="449 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-450"><a id="__codelineno-0-450" name="__codelineno-0-450"></a><a href="#__codelineno-0-450"><span class="linenos" data-linenos="450 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setSafeOssdSwitch" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setSafeOssdSwitch</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setSafeOssdSwitch" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setSafeOssdSwitch</span><span class="p">(</span><span class="nb">id</span><span class="p">:</span> <span class="n">int</span><span class="p">,</span> <span class="n">ossdRegion</span><span class="p">:</span> <span class="n">int</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">



<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>id</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>ossdRegion</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>id</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>ossdRegion</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-452"><a id="__codelineno-0-452" name="__codelineno-0-452"></a><a href="#__codelineno-0-452"><span class="linenos" data-linenos="452 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-453"><a id="__codelineno-0-453" name="__codelineno-0-453"></a><a href="#__codelineno-0-453"><span class="linenos" data-linenos="453 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-454"><a id="__codelineno-0-454" name="__codelineno-0-454"></a><a href="#__codelineno-0-454"><span class="linenos" data-linenos="454 "></span></a><span class="k">def</span> <span class="nf">setSafeOssdSwitch</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="nb">id</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span> <span class="n">ossdRegion</span><span class="p">:</span> <span class="nb">int</span><span class="p">):</span>
</span><span id="__span-0-455"><a id="__codelineno-0-455" name="__codelineno-0-455"></a><a href="#__codelineno-0-455"><span class="linenos" data-linenos="455 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
</span><span id="__span-0-456"><a id="__codelineno-0-456" name="__codelineno-0-456"></a><a href="#__codelineno-0-456"><span class="linenos" data-linenos="456 "></span></a>
</span><span id="__span-0-457"><a id="__codelineno-0-457" name="__codelineno-0-457"></a><a href="#__codelineno-0-457"><span class="linenos" data-linenos="457 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-458"><a id="__codelineno-0-458" name="__codelineno-0-458"></a><a href="#__codelineno-0-458"><span class="linenos" data-linenos="458 "></span></a><span class="sd">        id:</span>
</span><span id="__span-0-459"><a id="__codelineno-0-459" name="__codelineno-0-459"></a><a href="#__codelineno-0-459"><span class="linenos" data-linenos="459 "></span></a><span class="sd">        ossdRegion:</span>
</span><span id="__span-0-460"><a id="__codelineno-0-460" name="__codelineno-0-460"></a><a href="#__codelineno-0-460"><span class="linenos" data-linenos="460 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-461"><a id="__codelineno-0-461" name="__codelineno-0-461"></a><a href="#__codelineno-0-461"><span class="linenos" data-linenos="461 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setSafeZone" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setSafeZone</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setSafeZone" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setSafeZone</span><span class="p">(</span><span class="n">zoneType</span><span class="p">:</span> <span class="n">int</span><span class="p">,</span> <span class="n">maxSpeed</span><span class="p">:</span> <span class="n">float</span><span class="p">,</span> <span class="n">autoRestart</span><span class="p">:</span> <span class="n">bool</span><span class="p">,</span> <span class="n">muteAudio</span><span class="p">:</span> <span class="n">bool</span><span class="p">,</span> <span class="n">muteEnable</span><span class="p">:</span> <span class="n">bool</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">



<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>zoneType</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>maxSpeed</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>autoRestart</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>muteAudio</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>muteEnable</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>zoneType</code></td>
            <td>
                  <code>int</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>maxSpeed</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>autoRestart</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>muteAudio</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>muteEnable</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-463"><a id="__codelineno-0-463" name="__codelineno-0-463"></a><a href="#__codelineno-0-463"><span class="linenos" data-linenos="463 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-464"><a id="__codelineno-0-464" name="__codelineno-0-464"></a><a href="#__codelineno-0-464"><span class="linenos" data-linenos="464 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-465"><a id="__codelineno-0-465" name="__codelineno-0-465"></a><a href="#__codelineno-0-465"><span class="linenos" data-linenos="465 "></span></a><span class="k">def</span> <span class="nf">setSafeZone</span><span class="p">(</span>
</span><span id="__span-0-466"><a id="__codelineno-0-466" name="__codelineno-0-466"></a><a href="#__codelineno-0-466"><span class="linenos" data-linenos="466 "></span></a>        <span class="bp">cls</span><span class="p">,</span>
</span><span id="__span-0-467"><a id="__codelineno-0-467" name="__codelineno-0-467"></a><a href="#__codelineno-0-467"><span class="linenos" data-linenos="467 "></span></a>        <span class="n">zoneType</span><span class="p">:</span> <span class="nb">int</span><span class="p">,</span>
</span><span id="__span-0-468"><a id="__codelineno-0-468" name="__codelineno-0-468"></a><a href="#__codelineno-0-468"><span class="linenos" data-linenos="468 "></span></a>        <span class="n">maxSpeed</span><span class="p">:</span> <span class="nb">float</span><span class="p">,</span>
</span><span id="__span-0-469"><a id="__codelineno-0-469" name="__codelineno-0-469"></a><a href="#__codelineno-0-469"><span class="linenos" data-linenos="469 "></span></a>        <span class="n">autoRestart</span><span class="p">:</span> <span class="nb">bool</span><span class="p">,</span>
</span><span id="__span-0-470"><a id="__codelineno-0-470" name="__codelineno-0-470"></a><a href="#__codelineno-0-470"><span class="linenos" data-linenos="470 "></span></a>        <span class="n">muteAudio</span><span class="p">:</span> <span class="nb">bool</span><span class="p">,</span>
</span><span id="__span-0-471"><a id="__codelineno-0-471" name="__codelineno-0-471"></a><a href="#__codelineno-0-471"><span class="linenos" data-linenos="471 "></span></a>        <span class="n">muteEnable</span><span class="p">:</span> <span class="nb">bool</span><span class="p">,</span>
</span><span id="__span-0-472"><a id="__codelineno-0-472" name="__codelineno-0-472"></a><a href="#__codelineno-0-472"><span class="linenos" data-linenos="472 "></span></a><span class="p">):</span>
</span><span id="__span-0-473"><a id="__codelineno-0-473" name="__codelineno-0-473"></a><a href="#__codelineno-0-473"><span class="linenos" data-linenos="473 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
</span><span id="__span-0-474"><a id="__codelineno-0-474" name="__codelineno-0-474"></a><a href="#__codelineno-0-474"><span class="linenos" data-linenos="474 "></span></a>
</span><span id="__span-0-475"><a id="__codelineno-0-475" name="__codelineno-0-475"></a><a href="#__codelineno-0-475"><span class="linenos" data-linenos="475 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-476"><a id="__codelineno-0-476" name="__codelineno-0-476"></a><a href="#__codelineno-0-476"><span class="linenos" data-linenos="476 "></span></a><span class="sd">        zoneType:</span>
</span><span id="__span-0-477"><a id="__codelineno-0-477" name="__codelineno-0-477"></a><a href="#__codelineno-0-477"><span class="linenos" data-linenos="477 "></span></a><span class="sd">        maxSpeed:</span>
</span><span id="__span-0-478"><a id="__codelineno-0-478" name="__codelineno-0-478"></a><a href="#__codelineno-0-478"><span class="linenos" data-linenos="478 "></span></a><span class="sd">        autoRestart:</span>
</span><span id="__span-0-479"><a id="__codelineno-0-479" name="__codelineno-0-479"></a><a href="#__codelineno-0-479"><span class="linenos" data-linenos="479 "></span></a><span class="sd">        muteAudio:</span>
</span><span id="__span-0-480"><a id="__codelineno-0-480" name="__codelineno-0-480"></a><a href="#__codelineno-0-480"><span class="linenos" data-linenos="480 "></span></a><span class="sd">        muteEnable:</span>
</span><span id="__span-0-481"><a id="__codelineno-0-481" name="__codelineno-0-481"></a><a href="#__codelineno-0-481"><span class="linenos" data-linenos="481 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-482"><a id="__codelineno-0-482" name="__codelineno-0-482"></a><a href="#__codelineno-0-482"><span class="linenos" data-linenos="482 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.setSteerAngle" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">setSteerAngle</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.setSteerAngle" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">setSteerAngle</span><span class="p">(</span><span class="n">name</span><span class="p">:</span> <span class="n">str</span><span class="p">,</span> <span class="n">angle</span><span class="p">:</span> <span class="n">float</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">bool</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>转动舵角</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>name</code></td>
            <td>
                  <code>str</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>name</code></td>
            <td>
                  <code>str</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>舵机名称</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>angle</code></td>
            <td>
                  <code>float</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>角度位置, 单位rad</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>bool</code></td>            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>如果为True电机到位</p>
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-484"><a id="__codelineno-0-484" name="__codelineno-0-484"></a><a href="#__codelineno-0-484"><span class="linenos" data-linenos="484 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-485"><a id="__codelineno-0-485" name="__codelineno-0-485"></a><a href="#__codelineno-0-485"><span class="linenos" data-linenos="485 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-486"><a id="__codelineno-0-486" name="__codelineno-0-486"></a><a href="#__codelineno-0-486"><span class="linenos" data-linenos="486 "></span></a><span class="k">def</span> <span class="nf">setSteerAngle</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="nb">str</span><span class="p">,</span> <span class="n">angle</span><span class="p">:</span> <span class="nb">float</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
</span><span id="__span-0-487"><a id="__codelineno-0-487" name="__codelineno-0-487"></a><a href="#__codelineno-0-487"><span class="linenos" data-linenos="487 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;转动舵角</span>
</span><span id="__span-0-488"><a id="__codelineno-0-488" name="__codelineno-0-488"></a><a href="#__codelineno-0-488"><span class="linenos" data-linenos="488 "></span></a>
</span><span id="__span-0-489"><a id="__codelineno-0-489" name="__codelineno-0-489"></a><a href="#__codelineno-0-489"><span class="linenos" data-linenos="489 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-490"><a id="__codelineno-0-490" name="__codelineno-0-490"></a><a href="#__codelineno-0-490"><span class="linenos" data-linenos="490 "></span></a><span class="sd">        name (str): 舵机名称</span>
</span><span id="__span-0-491"><a id="__codelineno-0-491" name="__codelineno-0-491"></a><a href="#__codelineno-0-491"><span class="linenos" data-linenos="491 "></span></a><span class="sd">        angle (float): 角度位置, 单位rad</span>
</span><span id="__span-0-492"><a id="__codelineno-0-492" name="__codelineno-0-492"></a><a href="#__codelineno-0-492"><span class="linenos" data-linenos="492 "></span></a>
</span><span id="__span-0-493"><a id="__codelineno-0-493" name="__codelineno-0-493"></a><a href="#__codelineno-0-493"><span class="linenos" data-linenos="493 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-494"><a id="__codelineno-0-494" name="__codelineno-0-494"></a><a href="#__codelineno-0-494"><span class="linenos" data-linenos="494 "></span></a><span class="sd">        bool: 如果为True电机到位</span>
</span><span id="__span-0-495"><a id="__codelineno-0-495" name="__codelineno-0-495"></a><a href="#__codelineno-0-495"><span class="linenos" data-linenos="495 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-496"><a id="__codelineno-0-496" name="__codelineno-0-496"></a><a href="#__codelineno-0-496"><span class="linenos" data-linenos="496 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.spinRun" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">spinRun</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.spinRun" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">spinRun</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">bool</span>
</span></code></pre></div>

    <div class="doc doc-contents ">



    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>bool</code></td>            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-498"><a id="__codelineno-0-498" name="__codelineno-0-498"></a><a href="#__codelineno-0-498"><span class="linenos" data-linenos="498 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-499"><a id="__codelineno-0-499" name="__codelineno-0-499"></a><a href="#__codelineno-0-499"><span class="linenos" data-linenos="499 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-500"><a id="__codelineno-0-500" name="__codelineno-0-500"></a><a href="#__codelineno-0-500"><span class="linenos" data-linenos="500 "></span></a><span class="k">def</span> <span class="nf">spinRun</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
</span><span id="__span-0-501"><a id="__codelineno-0-501" name="__codelineno-0-501"></a><a href="#__codelineno-0-501"><span class="linenos" data-linenos="501 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
</span><span id="__span-0-502"><a id="__codelineno-0-502" name="__codelineno-0-502"></a><a href="#__codelineno-0-502"><span class="linenos" data-linenos="502 "></span></a>
</span><span id="__span-0-503"><a id="__codelineno-0-503" name="__codelineno-0-503"></a><a href="#__codelineno-0-503"><span class="linenos" data-linenos="503 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-504"><a id="__codelineno-0-504" name="__codelineno-0-504"></a><a href="#__codelineno-0-504"><span class="linenos" data-linenos="504 "></span></a><span class="sd">        bool:</span>
</span><span id="__span-0-505"><a id="__codelineno-0-505" name="__codelineno-0-505"></a><a href="#__codelineno-0-505"><span class="linenos" data-linenos="505 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-506"><a id="__codelineno-0-506" name="__codelineno-0-506"></a><a href="#__codelineno-0-506"><span class="linenos" data-linenos="506 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.Navigation.stopRobot" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">stopRobot</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.Navigation.stopRobot" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">stopRobot</span><span class="p">(</span><span class="n">flag</span><span class="p">:</span> <span class="n">bool</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>让agv停下来</p>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>flag</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>flag</code></td>
            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>如果是True就是急停，如果是False则以StopAcc停下来</p>
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-508"><a id="__codelineno-0-508" name="__codelineno-0-508"></a><a href="#__codelineno-0-508"><span class="linenos" data-linenos="508 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-509"><a id="__codelineno-0-509" name="__codelineno-0-509"></a><a href="#__codelineno-0-509"><span class="linenos" data-linenos="509 "></span></a><span class="nd">@call_service</span><span class="p">()</span>
</span><span id="__span-0-510"><a id="__codelineno-0-510" name="__codelineno-0-510"></a><a href="#__codelineno-0-510"><span class="linenos" data-linenos="510 "></span></a><span class="k">def</span> <span class="nf">stopRobot</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">flag</span><span class="p">:</span> <span class="nb">bool</span><span class="p">):</span>
</span><span id="__span-0-511"><a id="__codelineno-0-511" name="__codelineno-0-511"></a><a href="#__codelineno-0-511"><span class="linenos" data-linenos="511 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;让agv停下来</span>
</span><span id="__span-0-512"><a id="__codelineno-0-512" name="__codelineno-0-512"></a><a href="#__codelineno-0-512"><span class="linenos" data-linenos="512 "></span></a>
</span><span id="__span-0-513"><a id="__codelineno-0-513" name="__codelineno-0-513"></a><a href="#__codelineno-0-513"><span class="linenos" data-linenos="513 "></span></a><span class="sd">    Args:</span>
</span><span id="__span-0-514"><a id="__codelineno-0-514" name="__codelineno-0-514"></a><a href="#__codelineno-0-514"><span class="linenos" data-linenos="514 "></span></a><span class="sd">        flag (bool): 如果是True就是急停，如果是False则以StopAcc停下来</span>
</span><span id="__span-0-515"><a id="__codelineno-0-515" name="__codelineno-0-515"></a><a href="#__codelineno-0-515"><span class="linenos" data-linenos="515 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-516"><a id="__codelineno-0-516" name="__codelineno-0-516"></a><a href="#__codelineno-0-516"><span class="linenos" data-linenos="516 "></span></a>    <span class="k">pass</span>
</span></code></pre></div>
            </details>
    </div>

</div>



  </div>

    </div>

</div>

<div class="doc doc-object doc-class">



<h3 id="syspy.navigation.NavStatus" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-class"></code>            <span class="doc doc-object-name doc-class-name">NavStatus</span>


<a href="#syspy.navigation.NavStatus" class="headerlink" title="Permanent link">&para;</a></h3>


    <div class="doc doc-contents ">
            <p class="doc doc-class-bases">
              Bases: <code><span title="syspy.lib.py_rpc.Message">Message</span>[&#39;Message_MoveStatus&#39;]</code></p>


        <p>导航状态类</p>




  <div class="doc doc-children">









<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.NavStatus.getChassisStop" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">getChassisStop</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.NavStatus.getChassisStop" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">getChassisStop</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">bool</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>底盘是否停止（仅通过walk电机判断）</p>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>bool</code></td>            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>如果行走电机停止则为True</p>
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-534"><a id="__codelineno-0-534" name="__codelineno-0-534"></a><a href="#__codelineno-0-534"><span class="linenos" data-linenos="534 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-535"><a id="__codelineno-0-535" name="__codelineno-0-535"></a><a href="#__codelineno-0-535"><span class="linenos" data-linenos="535 "></span></a><span class="nd">@call_service</span><span class="p">(</span><span class="s2">&quot;DSPChassis&quot;</span><span class="p">)</span>
</span><span id="__span-0-536"><a id="__codelineno-0-536" name="__codelineno-0-536"></a><a href="#__codelineno-0-536"><span class="linenos" data-linenos="536 "></span></a><span class="k">def</span> <span class="nf">getChassisStop</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
</span><span id="__span-0-537"><a id="__codelineno-0-537" name="__codelineno-0-537"></a><a href="#__codelineno-0-537"><span class="linenos" data-linenos="537 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;底盘是否停止（仅通过walk电机判断）</span>
</span><span id="__span-0-538"><a id="__codelineno-0-538" name="__codelineno-0-538"></a><a href="#__codelineno-0-538"><span class="linenos" data-linenos="538 "></span></a>
</span><span id="__span-0-539"><a id="__codelineno-0-539" name="__codelineno-0-539"></a><a href="#__codelineno-0-539"><span class="linenos" data-linenos="539 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-540"><a id="__codelineno-0-540" name="__codelineno-0-540"></a><a href="#__codelineno-0-540"><span class="linenos" data-linenos="540 "></span></a><span class="sd">        bool: 如果行走电机停止则为True</span>
</span><span id="__span-0-541"><a id="__codelineno-0-541" name="__codelineno-0-541"></a><a href="#__codelineno-0-541"><span class="linenos" data-linenos="541 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-542"><a id="__codelineno-0-542" name="__codelineno-0-542"></a><a href="#__codelineno-0-542"><span class="linenos" data-linenos="542 "></span></a>    <span class="n">is_stop</span> <span class="o">=</span> <span class="bp">cls</span><span class="o">.</span><span class="n">client</span><span class="p">()</span><span class="o">.</span><span class="n">call_service</span><span class="p">(</span><span class="s2">&quot;DSPChassis&quot;</span><span class="p">,</span> <span class="s2">&quot;getChassisStop&quot;</span><span class="p">)</span>
</span><span id="__span-0-543"><a id="__codelineno-0-543" name="__codelineno-0-543"></a><a href="#__codelineno-0-543"><span class="linenos" data-linenos="543 "></span></a>    <span class="k">if</span> <span class="n">is_stop</span><span class="p">:</span>
</span><span id="__span-0-544"><a id="__codelineno-0-544" name="__codelineno-0-544"></a><a href="#__codelineno-0-544"><span class="linenos" data-linenos="544 "></span></a>        <span class="n">is_stop</span> <span class="o">=</span> <span class="kc">True</span>
</span><span id="__span-0-545"><a id="__codelineno-0-545" name="__codelineno-0-545"></a><a href="#__codelineno-0-545"><span class="linenos" data-linenos="545 "></span></a>    <span class="k">else</span><span class="p">:</span>
</span><span id="__span-0-546"><a id="__codelineno-0-546" name="__codelineno-0-546"></a><a href="#__codelineno-0-546"><span class="linenos" data-linenos="546 "></span></a>        <span class="k">if</span> <span class="bp">cls</span><span class="o">.</span><span class="n">not_stop_counts</span> <span class="o">&gt;=</span> <span class="mi">1</span><span class="p">:</span>
</span><span id="__span-0-547"><a id="__codelineno-0-547" name="__codelineno-0-547"></a><a href="#__codelineno-0-547"><span class="linenos" data-linenos="547 "></span></a>            <span class="n">is_stop</span> <span class="o">=</span> <span class="kc">False</span>
</span><span id="__span-0-548"><a id="__codelineno-0-548" name="__codelineno-0-548"></a><a href="#__codelineno-0-548"><span class="linenos" data-linenos="548 "></span></a>            <span class="bp">cls</span><span class="o">.</span><span class="n">not_stop_counts</span> <span class="o">=</span> <span class="mi">0</span>
</span><span id="__span-0-549"><a id="__codelineno-0-549" name="__codelineno-0-549"></a><a href="#__codelineno-0-549"><span class="linenos" data-linenos="549 "></span></a>        <span class="k">else</span><span class="p">:</span>
</span><span id="__span-0-550"><a id="__codelineno-0-550" name="__codelineno-0-550"></a><a href="#__codelineno-0-550"><span class="linenos" data-linenos="550 "></span></a>            <span class="c1"># 非停止状态计数</span>
</span><span id="__span-0-551"><a id="__codelineno-0-551" name="__codelineno-0-551"></a><a href="#__codelineno-0-551"><span class="linenos" data-linenos="551 "></span></a>            <span class="bp">cls</span><span class="o">.</span><span class="n">not_stop_counts</span> <span class="o">+=</span> <span class="mi">1</span>
</span><span id="__span-0-552"><a id="__codelineno-0-552" name="__codelineno-0-552"></a><a href="#__codelineno-0-552"><span class="linenos" data-linenos="552 "></span></a>    <span class="k">return</span> <span class="n">is_stop</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.NavStatus.get_turn" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">get_turn</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.NavStatus.get_turn" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">get_turn</span><span class="p">(</span><span class="n">v_x</span><span class="p">,</span> <span class="n">v_w</span><span class="p">)</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        


<p><span class="doc-section-title">Parameters:</span></p>
    <table>
      <thead>
        <tr>
          <th>Name</th>
          <th>Type</th>
          <th>Description</th>
          <th>Default</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td><code>v_x</code></td>
            <td>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
          <tr class="doc-section-item">
            <td><code>v_w</code></td>
            <td>
            </td>
            <td>
              <div class="doc-md-description">
                
              </div>
            </td>
            <td>
                <em>required</em>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-559"><a id="__codelineno-0-559" name="__codelineno-0-559"></a><a href="#__codelineno-0-559"><span class="linenos" data-linenos="559 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-560"><a id="__codelineno-0-560" name="__codelineno-0-560"></a><a href="#__codelineno-0-560"><span class="linenos" data-linenos="560 "></span></a><span class="k">def</span> <span class="nf">get_turn</span><span class="p">(</span><span class="bp">cls</span><span class="p">,</span> <span class="n">v_x</span><span class="p">,</span> <span class="n">v_w</span><span class="p">):</span>
</span><span id="__span-0-561"><a id="__codelineno-0-561" name="__codelineno-0-561"></a><a href="#__codelineno-0-561"><span class="linenos" data-linenos="561 "></span></a>    <span class="n">turn</span> <span class="o">=</span> <span class="mi">0</span>
</span><span id="__span-0-562"><a id="__codelineno-0-562" name="__codelineno-0-562"></a><a href="#__codelineno-0-562"><span class="linenos" data-linenos="562 "></span></a>    <span class="k">if</span> <span class="n">v_w</span> <span class="o">&gt;=</span> <span class="n">math</span><span class="o">.</span><span class="n">radians</span><span class="p">(</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="mi">3</span><span class="p">:</span>
</span><span id="__span-0-563"><a id="__codelineno-0-563" name="__codelineno-0-563"></a><a href="#__codelineno-0-563"><span class="linenos" data-linenos="563 "></span></a><span class="w">        </span><span class="sd">&#39;&#39;&#39;机身左旋&#39;&#39;&#39;</span>
</span><span id="__span-0-564"><a id="__codelineno-0-564" name="__codelineno-0-564"></a><a href="#__codelineno-0-564"><span class="linenos" data-linenos="564 "></span></a>        <span class="k">if</span> <span class="n">v_x</span> <span class="o">&gt;</span> <span class="mf">0.0</span><span class="p">:</span>
</span><span id="__span-0-565"><a id="__codelineno-0-565" name="__codelineno-0-565"></a><a href="#__codelineno-0-565"><span class="linenos" data-linenos="565 "></span></a><span class="w">            </span><span class="sd">&#39;&#39;&#39;机身左旋+前进&#39;&#39;&#39;</span>
</span><span id="__span-0-566"><a id="__codelineno-0-566" name="__codelineno-0-566"></a><a href="#__codelineno-0-566"><span class="linenos" data-linenos="566 "></span></a>            <span class="n">turn</span> <span class="o">=</span> <span class="mi">1</span>
</span><span id="__span-0-567"><a id="__codelineno-0-567" name="__codelineno-0-567"></a><a href="#__codelineno-0-567"><span class="linenos" data-linenos="567 "></span></a>        <span class="k">elif</span> <span class="n">v_x</span> <span class="o">&lt;</span> <span class="mf">0.0</span><span class="p">:</span>
</span><span id="__span-0-568"><a id="__codelineno-0-568" name="__codelineno-0-568"></a><a href="#__codelineno-0-568"><span class="linenos" data-linenos="568 "></span></a><span class="w">            </span><span class="sd">&#39;&#39;&#39;机身左旋+后退&#39;&#39;&#39;</span>
</span><span id="__span-0-569"><a id="__codelineno-0-569" name="__codelineno-0-569"></a><a href="#__codelineno-0-569"><span class="linenos" data-linenos="569 "></span></a>            <span class="n">turn</span> <span class="o">=</span> <span class="mi">2</span>
</span><span id="__span-0-570"><a id="__codelineno-0-570" name="__codelineno-0-570"></a><a href="#__codelineno-0-570"><span class="linenos" data-linenos="570 "></span></a>        <span class="k">else</span><span class="p">:</span>
</span><span id="__span-0-571"><a id="__codelineno-0-571" name="__codelineno-0-571"></a><a href="#__codelineno-0-571"><span class="linenos" data-linenos="571 "></span></a><span class="w">            </span><span class="sd">&quot;&quot;&quot;机身原地左旋&quot;&quot;&quot;</span>
</span><span id="__span-0-572"><a id="__codelineno-0-572" name="__codelineno-0-572"></a><a href="#__codelineno-0-572"><span class="linenos" data-linenos="572 "></span></a>            <span class="n">turn</span> <span class="o">=</span> <span class="mi">3</span>
</span><span id="__span-0-573"><a id="__codelineno-0-573" name="__codelineno-0-573"></a><a href="#__codelineno-0-573"><span class="linenos" data-linenos="573 "></span></a>    <span class="k">elif</span> <span class="n">v_w</span> <span class="o">&lt;=</span> <span class="n">math</span><span class="o">.</span><span class="n">radians</span><span class="p">(</span><span class="o">-</span><span class="mi">1</span><span class="p">)</span> <span class="o">*</span> <span class="mi">3</span><span class="p">:</span>
</span><span id="__span-0-574"><a id="__codelineno-0-574" name="__codelineno-0-574"></a><a href="#__codelineno-0-574"><span class="linenos" data-linenos="574 "></span></a><span class="w">        </span><span class="sd">&quot;&quot;&quot;机身右旋&quot;&quot;&quot;</span>
</span><span id="__span-0-575"><a id="__codelineno-0-575" name="__codelineno-0-575"></a><a href="#__codelineno-0-575"><span class="linenos" data-linenos="575 "></span></a>        <span class="k">if</span> <span class="n">v_x</span> <span class="o">&gt;</span> <span class="mf">0.0</span><span class="p">:</span>
</span><span id="__span-0-576"><a id="__codelineno-0-576" name="__codelineno-0-576"></a><a href="#__codelineno-0-576"><span class="linenos" data-linenos="576 "></span></a><span class="w">            </span><span class="sd">&quot;&quot;&quot;机身右旋+前进&quot;&quot;&quot;</span>
</span><span id="__span-0-577"><a id="__codelineno-0-577" name="__codelineno-0-577"></a><a href="#__codelineno-0-577"><span class="linenos" data-linenos="577 "></span></a>            <span class="n">turn</span> <span class="o">=</span> <span class="mi">2</span>
</span><span id="__span-0-578"><a id="__codelineno-0-578" name="__codelineno-0-578"></a><a href="#__codelineno-0-578"><span class="linenos" data-linenos="578 "></span></a>        <span class="k">elif</span> <span class="n">v_x</span> <span class="o">&lt;</span> <span class="mf">0.0</span><span class="p">:</span>
</span><span id="__span-0-579"><a id="__codelineno-0-579" name="__codelineno-0-579"></a><a href="#__codelineno-0-579"><span class="linenos" data-linenos="579 "></span></a><span class="w">            </span><span class="sd">&quot;&quot;&quot;机身右旋+后退&quot;&quot;&quot;</span>
</span><span id="__span-0-580"><a id="__codelineno-0-580" name="__codelineno-0-580"></a><a href="#__codelineno-0-580"><span class="linenos" data-linenos="580 "></span></a>            <span class="n">turn</span> <span class="o">=</span> <span class="mi">1</span>
</span><span id="__span-0-581"><a id="__codelineno-0-581" name="__codelineno-0-581"></a><a href="#__codelineno-0-581"><span class="linenos" data-linenos="581 "></span></a>        <span class="k">else</span><span class="p">:</span>
</span><span id="__span-0-582"><a id="__codelineno-0-582" name="__codelineno-0-582"></a><a href="#__codelineno-0-582"><span class="linenos" data-linenos="582 "></span></a><span class="w">            </span><span class="sd">&quot;&quot;&quot;机身原地右旋&quot;&quot;&quot;</span>
</span><span id="__span-0-583"><a id="__codelineno-0-583" name="__codelineno-0-583"></a><a href="#__codelineno-0-583"><span class="linenos" data-linenos="583 "></span></a>            <span class="n">turn</span> <span class="o">=</span> <span class="mi">3</span>
</span><span id="__span-0-584"><a id="__codelineno-0-584" name="__codelineno-0-584"></a><a href="#__codelineno-0-584"><span class="linenos" data-linenos="584 "></span></a>    <span class="k">return</span> <span class="n">turn</span>
</span></code></pre></div>
            </details>
    </div>

</div>



  </div>

    </div>

</div>

<div class="doc doc-object doc-class">



<h3 id="syspy.navigation.NavSpeed" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-class"></code>            <span class="doc doc-object-name doc-class-name">NavSpeed</span>


<a href="#syspy.navigation.NavSpeed" class="headerlink" title="Permanent link">&para;</a></h3>


    <div class="doc doc-contents ">
            <p class="doc doc-class-bases">
              Bases: <code><span title="syspy.lib.py_rpc.Message">Message</span>[&#39;Message_NavSpeed&#39;]</code></p>


        <p>导航速度类</p>




  <div class="doc doc-children">









<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.NavSpeed.get_motor_cmd" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">get_motor_cmd</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.NavSpeed.get_motor_cmd" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">get_motor_cmd</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n"><span title="typing.List">List</span></span><span class="p">[</span><span class="n"><span title="syspy.protobuf.Message_MotorCmd">Message_MotorCmd</span></span><span class="p">]</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>获取电机指令列表</p>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
            <td>
                  <code><span title="typing.List">List</span>[<span title="syspy.protobuf.Message_MotorCmd">Message_MotorCmd</span>]</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>typing.List[Message_MotorCmd]: 返回电机指令列表</p>
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-605"><a id="__codelineno-0-605" name="__codelineno-0-605"></a><a href="#__codelineno-0-605"><span class="linenos" data-linenos="605 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-606"><a id="__codelineno-0-606" name="__codelineno-0-606"></a><a href="#__codelineno-0-606"><span class="linenos" data-linenos="606 "></span></a><span class="k">def</span> <span class="nf">get_motor_cmd</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="n">typing</span><span class="o">.</span><span class="n">List</span><span class="p">[</span><span class="s2">&quot;Message_MotorCmd&quot;</span><span class="p">]:</span>
</span><span id="__span-0-607"><a id="__codelineno-0-607" name="__codelineno-0-607"></a><a href="#__codelineno-0-607"><span class="linenos" data-linenos="607 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;获取电机指令列表</span>
</span><span id="__span-0-608"><a id="__codelineno-0-608" name="__codelineno-0-608"></a><a href="#__codelineno-0-608"><span class="linenos" data-linenos="608 "></span></a>
</span><span id="__span-0-609"><a id="__codelineno-0-609" name="__codelineno-0-609"></a><a href="#__codelineno-0-609"><span class="linenos" data-linenos="609 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-610"><a id="__codelineno-0-610" name="__codelineno-0-610"></a><a href="#__codelineno-0-610"><span class="linenos" data-linenos="610 "></span></a><span class="sd">        typing.List[Message_MotorCmd]: 返回电机指令列表</span>
</span><span id="__span-0-611"><a id="__codelineno-0-611" name="__codelineno-0-611"></a><a href="#__codelineno-0-611"><span class="linenos" data-linenos="611 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-612"><a id="__codelineno-0-612" name="__codelineno-0-612"></a><a href="#__codelineno-0-612"><span class="linenos" data-linenos="612 "></span></a>    <span class="k">if</span> <span class="bp">cls</span><span class="o">.</span><span class="n">update</span><span class="p">():</span>
</span><span id="__span-0-613"><a id="__codelineno-0-613" name="__codelineno-0-613"></a><a href="#__codelineno-0-613"><span class="linenos" data-linenos="613 "></span></a>        <span class="k">return</span> <span class="bp">cls</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">motor_cmd</span>
</span></code></pre></div>
            </details>
    </div>

</div>

<div class="doc doc-object doc-function">


<h4 id="syspy.navigation.NavSpeed.get_is2move" class="doc doc-heading">
<code class="doc-symbol doc-symbol-heading doc-symbol-method"></code>            <span class="doc doc-object-name doc-function-name">get_is2move</span>


  <span class="doc doc-labels">
      <small class="doc doc-label doc-label-classmethod"><code>classmethod</code></small>
  </span>

<a href="#syspy.navigation.NavSpeed.get_is2move" class="headerlink" title="Permanent link">&para;</a></h4>
<div class="language-python doc-signature highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-1"><a id="__codelineno-0-1" name="__codelineno-0-1"></a><a href="#__codelineno-0-1"><span class="linenos" data-linenos="1 "></span></a><span class="nf">get_is2move</span><span class="p">()</span> <span class="o">-&gt;</span> <span class="n">bool</span>
</span></code></pre></div>

    <div class="doc doc-contents ">

        <p>获取是否准备移动的标志位</p>


    <p><span class="doc-section-title">Returns:</span></p>
    <table>
      <thead>
        <tr>
<th>Name</th>          <th>Type</th>
          <th>Description</th>
        </tr>
      </thead>
      <tbody>
          <tr class="doc-section-item">
<td><code>bool</code></td>            <td>
                  <code>bool</code>
            </td>
            <td>
              <div class="doc-md-description">
                <p>True表示准备移动，False表示未准备移动</p>
              </div>
            </td>
          </tr>
      </tbody>
    </table>

            <details class="quote">
              <summary>Source code in <code>syspy/navigation.py</code></summary>
              <div class="language-python highlight"><span class="filename">Python</span><pre><span></span><code><span id="__span-0-615"><a id="__codelineno-0-615" name="__codelineno-0-615"></a><a href="#__codelineno-0-615"><span class="linenos" data-linenos="615 "></span></a><span class="nd">@classmethod</span>
</span><span id="__span-0-616"><a id="__codelineno-0-616" name="__codelineno-0-616"></a><a href="#__codelineno-0-616"><span class="linenos" data-linenos="616 "></span></a><span class="k">def</span> <span class="nf">get_is2move</span><span class="p">(</span><span class="bp">cls</span><span class="p">)</span> <span class="o">-&gt;</span> <span class="nb">bool</span><span class="p">:</span>
</span><span id="__span-0-617"><a id="__codelineno-0-617" name="__codelineno-0-617"></a><a href="#__codelineno-0-617"><span class="linenos" data-linenos="617 "></span></a><span class="w">    </span><span class="sd">&quot;&quot;&quot;获取是否准备移动的标志位</span>
</span><span id="__span-0-618"><a id="__codelineno-0-618" name="__codelineno-0-618"></a><a href="#__codelineno-0-618"><span class="linenos" data-linenos="618 "></span></a>
</span><span id="__span-0-619"><a id="__codelineno-0-619" name="__codelineno-0-619"></a><a href="#__codelineno-0-619"><span class="linenos" data-linenos="619 "></span></a><span class="sd">    Returns:</span>
</span><span id="__span-0-620"><a id="__codelineno-0-620" name="__codelineno-0-620"></a><a href="#__codelineno-0-620"><span class="linenos" data-linenos="620 "></span></a><span class="sd">        bool: True表示准备移动，False表示未准备移动</span>
</span><span id="__span-0-621"><a id="__codelineno-0-621" name="__codelineno-0-621"></a><a href="#__codelineno-0-621"><span class="linenos" data-linenos="621 "></span></a><span class="sd">    &quot;&quot;&quot;</span>
</span><span id="__span-0-622"><a id="__codelineno-0-622" name="__codelineno-0-622"></a><a href="#__codelineno-0-622"><span class="linenos" data-linenos="622 "></span></a>    <span class="k">if</span> <span class="bp">cls</span><span class="o">.</span><span class="n">update</span><span class="p">():</span>
</span><span id="__span-0-623"><a id="__codelineno-0-623" name="__codelineno-0-623"></a><a href="#__codelineno-0-623"><span class="linenos" data-linenos="623 "></span></a>        <span class="k">return</span> <span class="bp">cls</span><span class="o">.</span><span class="n">data</span><span class="o">.</span><span class="n">is2move</span>
</span></code></pre></div>
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